diff --git a/hal/include/HAL/CanTalonSRX.h b/hal/include/HAL/CanTalonSRX.h
index 3ef520dbc8..4cbff71eec 100644
--- a/hal/include/HAL/CanTalonSRX.h
+++ b/hal/include/HAL/CanTalonSRX.h
@@ -411,6 +411,11 @@ extern "C" {
 	CTR_Code c_TalonSRX_SetProfileSlotSelect(void *handle, int param);
 	CTR_Code c_TalonSRX_SetRampThrottle(void *handle, int param);
 	CTR_Code c_TalonSRX_SetRevFeedbackSensor(void *handle, int param);
+	CTR_Code c_TalonSRX_GetPulseWidthPosition(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetPulseWidthVelocity(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetPulseWidthRiseToFallUs(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetPulseWidthRiseToRiseUs(void *handle, int *param);
+	CTR_Code c_TalonSRX_IsPulseWidthSensorPresent(void *handle, int *param);
 }
 #endif
 
diff --git a/hal/lib/Athena/ctre/CanTalonSRX.cpp b/hal/lib/Athena/ctre/CanTalonSRX.cpp
index 5fe551840f..56e68e1ec1 100644
--- a/hal/lib/Athena/ctre/CanTalonSRX.cpp
+++ b/hal/lib/Athena/ctre/CanTalonSRX.cpp
@@ -1394,4 +1394,24 @@ CTR_Code c_TalonSRX_SetRevFeedbackSensor(void *handle, int param)
 {
 	return ((CanTalonSRX*)handle)->SetRevFeedbackSensor(param);
 }
+CTR_Code c_TalonSRX_GetPulseWidthPosition(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetPulseWidthPosition(*param);
+}
+CTR_Code c_TalonSRX_GetPulseWidthVelocity(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetPulseWidthVelocity(*param);
+}
+CTR_Code c_TalonSRX_GetPulseWidthRiseToFallUs(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetPulseWidthRiseToFallUs(*param);
+}
+CTR_Code c_TalonSRX_GetPulseWidthRiseToRiseUs(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->GetPulseWidthRiseToRiseUs(*param);
+}
+CTR_Code c_TalonSRX_IsPulseWidthSensorPresent(void *handle, int *param)
+{
+	return ((CanTalonSRX*)handle)->IsPulseWidthSensorPresent(*param);
+}
 }