diff --git a/hal/lib/athena/PWM.cpp b/hal/lib/athena/PWM.cpp
new file mode 100644
index 0000000..a193842
--- /dev/null
+++ b/hal/lib/athena/PWM.cpp
@@ -0,0 +1,452 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/PWM.h"
+
+#include <cmath>
+
+#include "ConstantsInternal.h"
+#include "DigitalInternal.h"
+#include "HAL/handles/HandlesInternal.h"
+#include "PortsInternal.h"
+
+using namespace hal;
+
+static inline int32_t GetMaxPositivePwm(DigitalPort* port) {
+  return port->maxPwm;
+}
+static inline int32_t GetMinPositivePwm(DigitalPort* port) {
+  return port->eliminateDeadband ? port->deadbandMaxPwm : port->centerPwm + 1;
+}
+static inline int32_t GetCenterPwm(DigitalPort* port) {
+  return port->centerPwm;
+}
+static inline int32_t GetMaxNegativePwm(DigitalPort* port) {
+  return port->eliminateDeadband ? port->deadbandMinPwm : port->centerPwm - 1;
+}
+static inline int32_t GetMinNegativePwm(DigitalPort* port) {
+  return port->minPwm;
+}
+static inline int32_t GetPositiveScaleFactor(DigitalPort* port) {
+  return GetMaxPositivePwm(port) - GetMinPositivePwm(port);
+}  ///< The scale for positive speeds.
+static inline int32_t GetNegativeScaleFactor(DigitalPort* port) {
+  return GetMaxNegativePwm(port) - GetMinNegativePwm(port);
+}  ///< The scale for negative speeds.
+static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) {
+  return GetMaxPositivePwm(port) - GetMinNegativePwm(port);
+}  ///< The scale for positions.
+
+extern "C" {
+
+HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
+                                        int32_t* status) {
+  initializeDigital(status);
+
+  if (*status != 0) return HAL_kInvalidHandle;
+
+  int16_t channel = getPortHandleChannel(portHandle);
+  if (channel == InvalidHandleIndex || channel >= kNumPWMChannels) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    return HAL_kInvalidHandle;
+  }
+
+  uint8_t origChannel = static_cast<uint8_t>(channel);
+
+  if (origChannel < kNumPWMHeaders) {
+    channel += kNumDigitalChannels;  // remap Headers to end of allocations
+  } else {
+    channel = remapMXPPWMChannel(channel) + 10;  // remap MXP to proper channel
+  }
+
+  auto handle =
+      digitalChannelHandles.Allocate(channel, HAL_HandleEnum::PWM, status);
+
+  if (*status != 0)
+    return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
+
+  auto port = digitalChannelHandles.Get(handle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {  // would only occur on thread issue.
+    *status = HAL_HANDLE_ERROR;
+    return HAL_kInvalidHandle;
+  }
+
+  port->channel = origChannel;
+
+  int32_t bitToSet = 1 << remapMXPPWMChannel(port->channel);
+  uint16_t specialFunctions =
+      digitalSystem->readEnableMXPSpecialFunction(status);
+  digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToSet,
+                                               status);
+
+  return handle;
+}
+void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  if (port->channel > tPWM::kNumHdrRegisters - 1) {
+    int32_t bitToUnset = 1 << remapMXPPWMChannel(port->channel);
+    uint16_t specialFunctions =
+        digitalSystem->readEnableMXPSpecialFunction(status);
+    digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToUnset,
+                                                 status);
+  }
+
+  digitalChannelHandles.Free(pwmPortHandle, HAL_HandleEnum::PWM);
+}
+
+HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
+  return channel < kNumPWMChannels && channel >= 0;
+}
+
+void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double max,
+                      double deadbandMax, double center, double deadbandMin,
+                      double min, int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  // calculate the loop time in milliseconds
+  double loopTime =
+      HAL_GetLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3);
+  if (*status != 0) return;
+
+  int32_t maxPwm = static_cast<int32_t>((max - kDefaultPwmCenter) / loopTime +
+                                        kDefaultPwmStepsDown - 1);
+  int32_t deadbandMaxPwm = static_cast<int32_t>(
+      (deadbandMax - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
+  int32_t centerPwm = static_cast<int32_t>(
+      (center - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
+  int32_t deadbandMinPwm = static_cast<int32_t>(
+      (deadbandMin - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
+  int32_t minPwm = static_cast<int32_t>((min - kDefaultPwmCenter) / loopTime +
+                                        kDefaultPwmStepsDown - 1);
+
+  port->maxPwm = maxPwm;
+  port->deadbandMaxPwm = deadbandMaxPwm;
+  port->deadbandMinPwm = deadbandMinPwm;
+  port->centerPwm = centerPwm;
+  port->minPwm = minPwm;
+  port->configSet = true;
+}
+
+void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
+                         int32_t deadbandMaxPwm, int32_t centerPwm,
+                         int32_t deadbandMinPwm, int32_t minPwm,
+                         int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  port->maxPwm = maxPwm;
+  port->deadbandMaxPwm = deadbandMaxPwm;
+  port->deadbandMinPwm = deadbandMinPwm;
+  port->centerPwm = centerPwm;
+  port->minPwm = minPwm;
+}
+
+void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
+                         int32_t* deadbandMaxPwm, int32_t* centerPwm,
+                         int32_t* deadbandMinPwm, int32_t* minPwm,
+                         int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  *maxPwm = port->maxPwm;
+  *deadbandMaxPwm = port->deadbandMaxPwm;
+  *deadbandMinPwm = port->deadbandMinPwm;
+  *centerPwm = port->centerPwm;
+  *minPwm = port->minPwm;
+}
+
+void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
+                                 HAL_Bool eliminateDeadband, int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  port->eliminateDeadband = eliminateDeadband;
+}
+
+HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
+                                     int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+  return port->eliminateDeadband;
+}
+
+/**
+ * Set a PWM channel to the desired value. The values range from 0 to 255 and
+ * the period is controlled
+ * by the PWM Period and MinHigh registers.
+ *
+ * @param channel The PWM channel to set.
+ * @param value The PWM value to set.
+ */
+void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
+                   int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  if (port->channel < tPWM::kNumHdrRegisters) {
+    pwmSystem->writeHdr(port->channel, value, status);
+  } else {
+    pwmSystem->writeMXP(port->channel - tPWM::kNumHdrRegisters, value, status);
+  }
+}
+
+/**
+ * Set a PWM channel to the desired scaled value. The values range from -1 to 1
+ * and
+ * the period is controlled
+ * by the PWM Period and MinHigh registers.
+ *
+ * @param channel The PWM channel to set.
+ * @param value The scaled PWM value to set.
+ */
+void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
+                     int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  if (!port->configSet) {
+    *status = INCOMPATIBLE_STATE;
+    return;
+  }
+
+  DigitalPort* dPort = port.get();
+
+  if (speed < -1.0) {
+    speed = -1.0;
+  } else if (speed > 1.0) {
+    speed = 1.0;
+  } else if (!std::isfinite(speed)) {
+    speed = 0.0;
+  }
+
+  // calculate the desired output pwm value by scaling the speed appropriately
+  int32_t rawValue;
+  if (speed == 0.0) {
+    rawValue = GetCenterPwm(dPort);
+  } else if (speed > 0.0) {
+    rawValue = static_cast<int32_t>(
+        speed * static_cast<double>(GetPositiveScaleFactor(dPort)) +
+        static_cast<double>(GetMinPositivePwm(dPort)) + 0.5);
+  } else {
+    rawValue = static_cast<int32_t>(
+        speed * static_cast<double>(GetNegativeScaleFactor(dPort)) +
+        static_cast<double>(GetMaxNegativePwm(dPort)) + 0.5);
+  }
+
+  if (!((rawValue >= GetMinNegativePwm(dPort)) &&
+        (rawValue <= GetMaxPositivePwm(dPort))) ||
+      rawValue == kPwmDisabled) {
+    *status = HAL_PWM_SCALE_ERROR;
+    return;
+  }
+
+  HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
+}
+
+/**
+ * Set a PWM channel to the desired position value. The values range from 0 to 1
+ * and
+ * the period is controlled
+ * by the PWM Period and MinHigh registers.
+ *
+ * @param channel The PWM channel to set.
+ * @param value The scaled PWM value to set.
+ */
+void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
+                        int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  if (!port->configSet) {
+    *status = INCOMPATIBLE_STATE;
+    return;
+  }
+  DigitalPort* dPort = port.get();
+
+  if (pos < 0.0) {
+    pos = 0.0;
+  } else if (pos > 1.0) {
+    pos = 1.0;
+  }
+
+  // note, need to perform the multiplication below as floating point before
+  // converting to int
+  int32_t rawValue = static_cast<int32_t>(
+      (pos * static_cast<double>(GetFullRangeScaleFactor(dPort))) +
+      GetMinNegativePwm(dPort));
+
+  if (rawValue == kPwmDisabled) {
+    *status = HAL_PWM_SCALE_ERROR;
+    return;
+  }
+
+  HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
+}
+
+void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
+  HAL_SetPWMRaw(pwmPortHandle, kPwmDisabled, status);
+}
+
+/**
+ * Get a value from a PWM channel. The values range from 0 to 255.
+ *
+ * @param channel The PWM channel to read from.
+ * @return The raw PWM value.
+ */
+int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  if (port->channel < tPWM::kNumHdrRegisters) {
+    return pwmSystem->readHdr(port->channel, status);
+  } else {
+    return pwmSystem->readMXP(port->channel - tPWM::kNumHdrRegisters, status);
+  }
+}
+
+/**
+ * Get a scaled value from a PWM channel. The values range from -1 to 1.
+ *
+ * @param channel The PWM channel to read from.
+ * @return The scaled PWM value.
+ */
+double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+  if (!port->configSet) {
+    *status = INCOMPATIBLE_STATE;
+    return 0;
+  }
+
+  int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
+  if (*status != 0) return 0;
+  DigitalPort* dPort = port.get();
+
+  if (value == kPwmDisabled) {
+    return 0.0;
+  } else if (value > GetMaxPositivePwm(dPort)) {
+    return 1.0;
+  } else if (value < GetMinNegativePwm(dPort)) {
+    return -1.0;
+  } else if (value > GetMinPositivePwm(dPort)) {
+    return static_cast<double>(value - GetMinPositivePwm(dPort)) /
+           static_cast<double>(GetPositiveScaleFactor(dPort));
+  } else if (value < GetMaxNegativePwm(dPort)) {
+    return static_cast<double>(value - GetMaxNegativePwm(dPort)) /
+           static_cast<double>(GetNegativeScaleFactor(dPort));
+  } else {
+    return 0.0;
+  }
+}
+
+/**
+ * Get a position value from a PWM channel. The values range from 0 to 1.
+ *
+ * @param channel The PWM channel to read from.
+ * @return The scaled PWM value.
+ */
+double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+  if (!port->configSet) {
+    *status = INCOMPATIBLE_STATE;
+    return 0;
+  }
+
+  int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
+  if (*status != 0) return 0;
+  DigitalPort* dPort = port.get();
+
+  if (value < GetMinNegativePwm(dPort)) {
+    return 0.0;
+  } else if (value > GetMaxPositivePwm(dPort)) {
+    return 1.0;
+  } else {
+    return static_cast<double>(value - GetMinNegativePwm(dPort)) /
+           static_cast<double>(GetFullRangeScaleFactor(dPort));
+  }
+}
+
+void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  pwmSystem->writeZeroLatch(port->channel, true, status);
+  pwmSystem->writeZeroLatch(port->channel, false, status);
+}
+
+/**
+ * Set how how often the PWM signal is squelched, thus scaling the period.
+ *
+ * @param channel The PWM channel to configure.
+ * @param squelchMask The 2-bit mask of outputs to squelch.
+ */
+void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
+                           int32_t* status) {
+  auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
+  if (port == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  if (port->channel < tPWM::kNumPeriodScaleHdrElements) {
+    pwmSystem->writePeriodScaleHdr(port->channel, squelchMask, status);
+  } else {
+    pwmSystem->writePeriodScaleMXP(
+        port->channel - tPWM::kNumPeriodScaleHdrElements, squelchMask, status);
+  }
+}
+
+/**
+ * Get the loop timing of the PWM system
+ *
+ * @return The loop time
+ */
+int32_t HAL_GetLoopTiming(int32_t* status) {
+  initializeDigital(status);
+  if (*status != 0) return 0;
+  return pwmSystem->readLoopTiming(status);
+}
+}