A peristaltic pump comprising: a pump body configured to receive a section of tubing ; a rotor configured to rotate about an axis , the rotor having a first roller and a second roller and having no more than two rollers; the first roller mounted on a first end of the rotor and configured to rotate between a disengaged, initially engaged and a fully engaged position with respect to the section of tubing as the rotor rotates, the first roller configured to begin to occlude the section of tubing when in the initially engaged position and fully occlude the section of tubing when in the fully engaged position; and the second roller mounted on a second end of the rotor and configured to rotate between a disengaged, initially engaged and a fully engaged position with respect to the section of tubing as the rotor rotates, the second roller configured to begin to occlude the section of tubing when in the initially engaged position and fully occlude the section of tubing when in the fully engaged position, characterized in that the second roller is in the disengaged position when the first roller is in the fully engaged position, and the first roller is in the disengaged position when the second roller is in the fully engaged position; and further characterized in that the pump further includes an encoder configured to monitor the position of the first and second rollers as the rotor rotates about the axis; and a rotor controller in electrical communication with the encoder and configured to control the operation of the pump and rotor, the rotor controller configured to stop the rotation of the rotor in response to a stop command, wherein the rotor controller stops the rotor only after receiving the stop command and once the monitored position of either the first or second roller is in the fully engaged position. a pump body configured to receive a section of tubing ; a rotor configured to rotate about an axis , the rotor having a first roller and a second roller and having no more than two rollers; the first roller mounted on a first end of the rotor and configured to rotate between a disengaged, initially engaged and a fully engaged position with respect to the section of tubing as the rotor rotates, the first roller configured to begin to occlude the section of tubing when in the initially engaged position and fully occlude the section of tubing when in the fully engaged position; and the second roller mounted on a second end of the rotor and configured to rotate between a disengaged, initially engaged and a fully engaged position with respect to the section of tubing as the rotor rotates, the second roller configured to begin to occlude the section of tubing when in the initially engaged position and fully occlude the section of tubing when in the fully engaged position, characterized in that the second roller is in the disengaged position when the first roller is in the fully engaged position, and the first roller is in the disengaged position when the second roller is in the fully engaged position; and further characterized in that the pump further includes an encoder configured to monitor the position of the first and second rollers as the rotor rotates about the axis; and a rotor controller in electrical communication with the encoder and configured to control the operation of the pump and rotor, the rotor controller configured to stop the rotation of the rotor in response to a stop command, wherein the rotor controller stops the rotor only after receiving the stop command and once the monitored position of either the first or second roller is in the fully engaged position. <EOS>