diff --git a/hal/lib/Athena/Digital.cpp b/hal/lib/Athena/Digital.cpp
index c8ea2b29b4..f11721614d 100644
--- a/hal/lib/Athena/Digital.cpp
+++ b/hal/lib/Athena/Digital.cpp
@@ -12,6 +12,8 @@
 #include "i2clib/i2c-lib.h"
 #include "spilib/spi-lib.h"
 
+static_assert(sizeof(uint32_t) <= sizeof(void *), "This file shoves uint32_ts into pointers.");
+
 static const uint32_t kExpectedLoopTiming = 40;
 static const uint32_t kDigitalPins = 26;
 static const uint32_t kPwmPins = 20;
diff --git a/hal/lib/Athena/Semaphore.cpp b/hal/lib/Athena/Semaphore.cpp
index 0ab17669b6..8d0162ed3f 100644
--- a/hal/lib/Athena/Semaphore.cpp
+++ b/hal/lib/Athena/Semaphore.cpp
@@ -121,6 +121,9 @@ void deleteMultiWait(MULTIWAIT_ID sem) {
   delete sem;
 }
 
+/**
+ * @param timeout Not implemented.
+ */
 int8_t takeMultiWait(MULTIWAIT_ID sem, MUTEX_ID m, int32_t timeout) {
   takeMutex(m);
   int8_t val = pthread_cond_wait(sem, m);
diff --git a/hal/lib/Athena/Task.cpp b/hal/lib/Athena/Task.cpp
index 0777f89e36..28bc4772f0 100644
--- a/hal/lib/Athena/Task.cpp
+++ b/hal/lib/Athena/Task.cpp
@@ -24,6 +24,11 @@ void* startRoutine(void* data) {
 	return ret;
 }
 
+/**
+ * @param priority Not implemented.
+ * @param options Not implemented.
+ * @param stackSize Not implemented.
+ */
 TASK spawnTask(char * name, int priority, int options, int stackSize,
 		       FUNCPTR entryPt, uint32_t arg0, uint32_t arg1, uint32_t arg2,
 		       uint32_t arg3, uint32_t arg4, uint32_t arg5, uint32_t arg6,
diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
index 8cfcf11ce0..5d075276ab 100644
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
@@ -91,6 +91,7 @@ float CANTalon::Get()
       m_impl->GetSensorPosition(value);
       return value;
     case kPercentVbus:
+    case kFollower:
     default:
       m_impl->GetAppliedThrottle(value);
       return (float)value / 1023.0;
@@ -143,7 +144,11 @@ void CANTalon::Set(float value, uint8_t syncGroup)
       case CANSpeedController::kPosition:
         status = m_impl->SetDemand(value);
         break;
+      case CANSpeedController::kCurrent:
       default:
+        wpi_setWPIErrorWithContext(
+            IncompatibleMode,
+            "The CAN Talon does not support Current Mode at this time.");
         break;
     }
     if (status != CTR_OKAY) {
@@ -511,7 +516,7 @@ double CANTalon::GetPosition()
 	return (double)postition;
 }
 /**
- * If sensor and motor are out of phase, sensor can be inverted 
+ * If sensor and motor are out of phase, sensor can be inverted
  * (position and velocity multiplied by -1).
  * @see GetPosition and @see GetSpeed.
  */
@@ -568,7 +573,7 @@ double CANTalon::GetSpeed()
  * Get the position of whatever is in the analog pin of the Talon, regardless of
  * whether it is actually being used for feedback.
  *
- * @returns The 24bit analog value.  The bottom ten bits is the ADC (0 - 1023) on 
+ * @returns The 24bit analog value.  The bottom ten bits is the ADC (0 - 1023) on
  *								the analog pin of the Talon. The upper 14 bits
  *								tracks the overflows and underflows (continuous sensor).
  */
@@ -1066,7 +1071,7 @@ void CANTalon::ConfigLimitMode(LimitMode mode)
 				wpi_setErrorWithContext(status, getHALErrorMessage(status));
 			}
 			break;
-			
+
 		case kLimitMode_SrxDisableSwitchInputs: /** disable both limit switches and soft limits */
 			/* turn on both limits. SRX has individual enables and polarity for each limit switch.*/
 			status = m_impl->SetForwardSoftEnable(false);
diff --git a/wpilibc/wpilibC++Devices/src/DriverStation.cpp b/wpilibc/wpilibC++Devices/src/DriverStation.cpp
index 2fdced18c1..2b2347a9c2 100644
--- a/wpilibc/wpilibC++Devices/src/DriverStation.cpp
+++ b/wpilibc/wpilibC++Devices/src/DriverStation.cpp
@@ -66,7 +66,11 @@ DriverStation::DriverStation()
 
 	AddToSingletonList();
 
-	if (!m_task.Start((int32_t)this))
+  // They need to be identical or it could lead to runtime stack corruption if
+  // the caller and callee push and pop different amounts of data on the stack.
+  static_assert(sizeof(this) == sizeof(uint32_t),
+                "We are passing a pointer through a uint32_t");
+	if (!m_task.Start((uint32_t)this))
 	{
 		wpi_setWPIError(DriverStationTaskError);
 	}
@@ -84,6 +88,8 @@ DriverStation::~DriverStation()
 	deleteMutex(m_waitForDataMutex);
 }
 
+// XXX: This assumes that the calling convention treats pointers and uint32_ts
+// identical, which is not necessarily true.
 void DriverStation::InitTask(DriverStation *ds)
 {
 	ds->Run();
@@ -170,7 +176,7 @@ void DriverStation::ReportJoystickUnpluggedError(std::string message) {
 	}
 }
 
-/**	
+/**
  * Returns the number of axes on a given joystick port
  *
  * @param stick The joystick port number
@@ -188,7 +194,7 @@ int DriverStation::GetStickAxisCount(uint32_t stick)
    	return joystickAxes.count;
 }
 
-/**	
+/**
  * Returns the number of POVs on a given joystick port
  *
  * @param stick The joystick port number
@@ -206,7 +212,7 @@ int DriverStation::GetStickPOVCount(uint32_t stick)
    	return joystickPOVs.count;
 }
 
-/**	
+/**
  * Returns the number of buttons on a given joystick port
  *
  * @param stick The joystick port number
@@ -316,7 +322,7 @@ bool DriverStation::GetStickButton(uint32_t stick, uint8_t button)
 		wpi_setWPIError(BadJoystickIndex);
 		return false;
 	}
-	
+
 	if(button > m_joystickButtons[stick].count)
 	{
 		ReportJoystickUnpluggedError("WARNING: Joystick Button missing, check if all controllers are plugged in\n");
diff --git a/wpilibc/wpilibC++Devices/src/Joystick.cpp b/wpilibc/wpilibC++Devices/src/Joystick.cpp
index 790f0d7efb..46a9f08791 100644
--- a/wpilibc/wpilibC++Devices/src/Joystick.cpp
+++ b/wpilibc/wpilibC++Devices/src/Joystick.cpp
@@ -107,6 +107,7 @@ Joystick::~Joystick()
 /**
  * Get the X value of the joystick.
  * This depends on the mapping of the joystick connected to the current port.
+ * @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
  */
 float Joystick::GetX(JoystickHand hand)
 {
@@ -116,6 +117,7 @@ float Joystick::GetX(JoystickHand hand)
 /**
  * Get the Y value of the joystick.
  * This depends on the mapping of the joystick connected to the current port.
+ * @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
  */
 float Joystick::GetY(JoystickHand hand)
 {