diff --git a/hal/lib/Athena/Digital.cpp b/hal/lib/Athena/Digital.cpp
index 2528d52d55..0d3a714a58 100644
--- a/hal/lib/Athena/Digital.cpp
+++ b/hal/lib/Athena/Digital.cpp
@@ -296,8 +296,10 @@ void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status) {
 	  // The resolution of the duty cycle drops close to the highest frequencies.
 	  rawDutyCycle = rawDutyCycle / pow(2.0, 4 - pwmPeriodPower);
 	}
-    digitalSystem->writePWMDutyCycleA(id, (uint8_t)rawDutyCycle, status);
-    digitalSystem->writePWMDutyCycleB(id, (uint8_t)rawDutyCycle, status);
+	if(id < 4)
+		digitalSystem->writePWMDutyCycleA(id, (uint8_t)rawDutyCycle, status);
+	else 
+		digitalSystem->writePWMDutyCycleB(id - 3, (uint8_t)rawDutyCycle, status);
   }
 }
 
diff --git a/wpilibc/wpilibC++Devices/src/DigitalOutput.cpp b/wpilibc/wpilibC++Devices/src/DigitalOutput.cpp
index 802363f401..62e78173c2 100644
--- a/wpilibc/wpilibC++Devices/src/DigitalOutput.cpp
+++ b/wpilibc/wpilibC++Devices/src/DigitalOutput.cpp
@@ -83,7 +83,7 @@ uint32_t DigitalOutput::GetChannel()
 
 /**
  * Output a single pulse on the digital output line.
- * Send a single pulse on the digital output line where the pulse diration is specified in seconds.
+ * Send a single pulse on the digital output line where the pulse duration is specified in seconds.
  * Maximum pulse length is 0.0016 seconds.
  * @param length The pulselength in seconds
  */
@@ -131,7 +131,7 @@ void DigitalOutput::SetPWMRate(float rate)
 /**
  * Enable a PWM Output on this line.
  *
- * Allocate one of the 4 DO PWM generator resources from this module.
+ * Allocate one of the 6 DO PWM generator resources from this module.
  *
  * Supply the initial duty-cycle to output so as to avoid a glitch when first starting.
  *
@@ -162,7 +162,7 @@ void DigitalOutput::EnablePWM(float initialDutyCycle)
 /**
  * Change this line from a PWM output back to a static Digital Output line.
  *
- * Free up one of the 4 DO PWM generator resources that were in use.
+ * Free up one of the 6 DO PWM generator resources that were in use.
  */
 void DigitalOutput::DisablePWM()
 {
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
index 988151cf15..f8d47ac0aa 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
@@ -150,7 +150,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * Enable a PWM Output on this line.
 	 *
-	 * Allocate one of the 4 DO PWM generator resources.
+	 * Allocate one of the 6 DO PWM generator resources.
 	 *
 	 * Supply the initial duty-cycle to output so as to avoid a glitch when
 	 * first starting.
@@ -178,7 +178,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * Change this line from a PWM output back to a static Digital Output line.
 	 *
-	 * Free up one of the 4 DO PWM generator resources that were in use.
+	 * Free up one of the 6 DO PWM generator resources that were in use.
 	 */
 	public void disablePWM() {
 		if (m_pwmGenerator == null)