Index: firmware/App/Drivers/PinchValve.c
===================================================================
diff -u -r17261d704df24e2cbb33f544af053d67262a9e28 -rcb993d86277143601d484b8b4d1229605e4b7395
--- firmware/App/Drivers/PinchValve.c	(.../PinchValve.c)	(revision 17261d704df24e2cbb33f544af053d67262a9e28)
+++ firmware/App/Drivers/PinchValve.c	(.../PinchValve.c)	(revision cb993d86277143601d484b8b4d1229605e4b7395)
@@ -31,7 +31,7 @@
 #define PINCH_VALVE_COMMAND_TIMEOUT_MS                   1000               ///< Maximum FPGA command execution time in milliseconds.
 #define PINCH_VALVE_MOTION_TIMEOUT_MS                    10000              ///< Maximum allowed valve motion time in milliseconds
 
-#define PINCH_VALVE_HOME_OFFSET                          1300               ///< Offset (in encoder counts) from end of travel edge to set position B and C.
+#define PINCH_VALVE_HOME_OFFSET                          20               ///< Offset (in encoder counts) from end of travel edge to set position B and C.
 
 #define PINCH_VALVE_FPGA_CMD_START_BIT_MASK              0x01               ///< FPGA command register bit 0 used to start a command transaction
 #define PINCH_VALVE_FPGA_CMD_WRITE_ONLY_BIT_MASK         0x02               ///< FPGA command register bit 1 indicating a write only command.
@@ -71,7 +71,7 @@
 static const S32 H1_HOMING_VELOCITY_SECOND  =  3342;                        ///< Second H1 homing movement velocity ( Forward Direction )
 static const S32 H19_HOMING_VELOCITY_FIRST  =  3342;                        ///< First H19 homing movement velocity ( Forward Direction )
 static const S32 H19_HOMING_VELOCITY_SECOND = -3342;                        ///< Second H19 homing movement velocity ( Reverse Direction )
-static const S32 POSITION_VELOCITY = 50000;                                 ///< Velocity used for normal stored position movement
+static const S32 POSITION_VELOCITY = 100000;                                ///< Velocity used for normal stored position movement
 
 #define PINCH_VALVE_EVENT_MOTION_COMPLETE_MASK          0x0001              ///< Event Status bit 0: motion complete.
 #define PINCH_VALVE_EVENT_MOTION_ERROR_MASK             0x0010              ///< Event Status bit 4: motion error.
@@ -135,8 +135,7 @@
 typedef enum pinchValvePositionCommandIndexes
 {
     PINCH_VALVE_POSITION_CMD_RESET_EVENT_STATUS = 0,                        ///< Pinch valve position command reset event status
-    PINCH_VALVE_HOME_CMD_SET_VELOCITY,                                      ///< Pinch valve position command set velocity
-    PINCH_VALVE_HOME_CMD_UPDATE,
+    PINCH_VALVE_POSITION_CMD_SET_VELOCITY,                                  ///< Pinch valve position command set velocity
     PINCH_VALVE_POSITION_CMD_SET_POSITION,                                  ///< Pinch valve position command set position
     PINCH_VALVE_POSITION_CMD_UPDATE,                                        ///< Pinch valve position command update
     PINCH_VALVE_POSITION_CMD_GET_ACTIVITY_STATUS,                           ///< Pinch valve position command get activity status
@@ -198,8 +197,7 @@
 static PINCH_VALVE_COMMAND_T positionCommands[ NUM_OF_PINCH_VALVE_POSITION_COMMANDS ] =
 {
     { PINCH_VALVE_PMD_CMD_RESET_EVENT_STATUS, PINCH_VALVE_RESET_EVENT_STATUS_VALUE, 0, 0, 1, 0, TRUE },        // Clears event bits before position movement
-    { PINCH_VALVE_PMD_CMD_SET_VELOCITY, 0, 0, 0, 2, 0, TRUE },                                                 // Sets the velocity used to move to positions
-    { PINCH_VALVE_PMD_CMD_UPDATE, 0, 0, 0, 0, 0, TRUE },                                                       // Starts movement to the calculated position A.
+    { PINCH_VALVE_PMD_CMD_SET_VELOCITY, 0, 0, 0, 2, 0, TRUE },                                                 // Sets position movement velocity
     { PINCH_VALVE_PMD_CMD_SET_POSITION, 0, 0, 0, 2, 0, TRUE },                                                 // Writes the requested target encoder position
     { PINCH_VALVE_PMD_CMD_UPDATE, 0, 0, 0, 0, 0, TRUE },                                                       // Starts movement to the requested position
     { PINCH_VALVE_PMD_CMD_GET_ACTIVITY_STATUS, 0, 0, 0, 0, 1, FALSE },                                         // Reads activity status after movement starts
@@ -293,6 +291,7 @@
     setSigned32CommandWords( &h19HomingCommands[ PINCH_VALVE_HOME_CMD_SET_VELOCITY_FIRST ], H19_HOMING_VELOCITY_FIRST );
     setSigned32CommandWords( &h19HomingCommands[ PINCH_VALVE_HOME_CMD_SET_VELOCITY_SECOND ], H19_HOMING_VELOCITY_SECOND );
     setSigned32CommandWords( &h19HomingCommands[ PINCH_VALVE_HOME_CMD_SET_VELOCITY_THIRD ], POSITION_VELOCITY );
+    setSigned32CommandWords(&positionCommands[ PINCH_VALVE_POSITION_CMD_SET_VELOCITY ], POSITION_VELOCITY );
 
     for ( valve = FIRST_VALVE; valve < NUM_OF_VALVES; valve++ )
     {