diff --git a/hal/src/main/native/athena/DIO.cpp b/hal/src/main/native/athena/DIO.cpp
index 23c5ab331b..38c90e455f 100644
--- a/hal/src/main/native/athena/DIO.cpp
+++ b/hal/src/main/native/athena/DIO.cpp
@@ -191,8 +191,8 @@ void HAL_SetDigitalPWMRate(double rate, int32_t* status) {
   if (*status != 0) {
     return;
   }
-  uint16_t pwmPeriodPower = static_cast<uint16_t>(
-      std::log(1.0 / (16 * 1.0E-6 * rate)) / std::log(2.0) + 0.5);
+  uint16_t pwmPeriodPower =
+      std::lround(std::log(1.0 / (16 * 1.0E-6 * rate)) / std::log(2.0));
   digitalSystem->writePWMPeriodPower(pwmPeriodPower, status);
 }
 
diff --git a/hal/src/main/native/athena/DigitalInternal.cpp b/hal/src/main/native/athena/DigitalInternal.cpp
index d47cedfb45..c75c66b3ba 100644
--- a/hal/src/main/native/athena/DigitalInternal.cpp
+++ b/hal/src/main/native/athena/DigitalInternal.cpp
@@ -5,6 +5,7 @@
 #include "DigitalInternal.h"
 
 #include <atomic>
+#include <cmath>
 #include <thread>
 
 #include <FRC_NetworkCommunication/LoadOut.h>
@@ -108,10 +109,10 @@ void initializeDigital(int32_t* status) {
   double loopTime = pwmSystem->readLoopTiming(status) /
                     (kSystemClockTicksPerMicrosecond * 1e3);
 
-  pwmSystem->writeConfig_Period(
-      static_cast<uint16_t>(kDefaultPwmPeriod / loopTime + 0.5), status);
-  uint16_t minHigh = static_cast<uint16_t>(
-      (kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime + 0.5);
+  pwmSystem->writeConfig_Period(std::lround(kDefaultPwmPeriod / loopTime),
+                                status);
+  uint16_t minHigh = std::lround(
+      (kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime);
   pwmSystem->writeConfig_MinHigh(minHigh, status);
   // Ensure that PWM output values are set to OFF
   for (uint8_t pwmIndex = 0; pwmIndex < kNumPWMChannels; pwmIndex++) {
diff --git a/hal/src/main/native/athena/PWM.cpp b/hal/src/main/native/athena/PWM.cpp
index 873d447ee4..19b7b49f69 100644
--- a/hal/src/main/native/athena/PWM.cpp
+++ b/hal/src/main/native/athena/PWM.cpp
@@ -277,13 +277,13 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
   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);
+    rawValue =
+        std::lround(speed * static_cast<double>(GetPositiveScaleFactor(dPort)) +
+                    static_cast<double>(GetMinPositivePwm(dPort)));
   } else {
-    rawValue = static_cast<int32_t>(
-        speed * static_cast<double>(GetNegativeScaleFactor(dPort)) +
-        static_cast<double>(GetMaxNegativePwm(dPort)) + 0.5);
+    rawValue =
+        std::lround(speed * static_cast<double>(GetNegativeScaleFactor(dPort)) +
+                    static_cast<double>(GetMaxNegativePwm(dPort)));
   }
 
   if (!((rawValue >= GetMinNegativePwm(dPort)) &&