diff --git a/software/include/lib/valve.h b/software/include/lib/valve.h
index 2cfbde7..85c7bd8 100644
--- a/software/include/lib/valve.h
+++ b/software/include/lib/valve.h
@@ -17,8 +17,8 @@
 #define VALVE_CHANNEL_CLOSE 1
 #define VALVE_ENDPOSITION_CHECK_INTERVAL K_MSEC(100)
 
-#define VALVE_OBSTACLE_THRESHOLD_OPEN_MA 500
-#define VALVE_OBSTACLE_THRESHOLD_CLOSE_MA 500
+#define VALVE_OBSTACLE_THRESHOLD_OPEN_MA 200
+#define VALVE_OBSTACLE_THRESHOLD_CLOSE_MA 200
 
 /**
  * @brief Represents the static state of the valve (open or closed).
diff --git a/software/lib/valve/valve.c b/software/lib/valve/valve.c
index 2ba6dca..810af31 100644
--- a/software/lib/valve/valve.c
+++ b/software/lib/valve/valve.c
@@ -54,7 +54,7 @@ static void valve_work_handler(struct k_work *work)
 			    current_ma);
 			current_movement = VALVE_MOVEMENT_ERROR;
 			valve_stop();
-			goto work_handler_cleanup;
+			return;
 		} else if (current_ma > end_current_threshold_open_ma) {
 			k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
 			return;
@@ -69,7 +69,7 @@ static void valve_work_handler(struct k_work *work)
 			    current_ma);
 			current_movement = VALVE_MOVEMENT_ERROR;
 			valve_stop();
-			goto work_handler_cleanup;
+			return;
 		} else if (current_ma > end_current_threshold_close_ma) {
 			k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
 			return;
@@ -79,12 +79,7 @@ static void valve_work_handler(struct k_work *work)
 	}
 	current_movement = VALVE_MOVEMENT_IDLE;
 
-work_handler_cleanup:
-	// Reset the movement timer
-	k_timer_stop(&movement_timer);
-
-	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_OPEN, false);
-	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, false);
+	valve_stop();
 }
 
 /**
@@ -147,9 +142,9 @@ void valve_open(void)
 	vnd7050aj_reset_fault(vnd7050aj_dev);
 	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, false);
 	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_OPEN, true);
-	current_state = VALVE_STATE_OPEN;
-	current_movement = VALVE_MOVEMENT_OPENING; /* Security: assume valve open as
-	                                              soons as it starts opening */
+	current_state =
+	    VALVE_STATE_OPEN; /* Security: assume valve open as soon as it starts opening */
+	current_movement = VALVE_MOVEMENT_OPENING;
 	if (max_opening_time_s > 0) {
 		k_timer_start(&movement_timer, K_SECONDS(max_opening_time_s), K_NO_WAIT);
 	}