diff --git a/hal/lib/athena/DIO.cpp b/hal/lib/athena/DIO.cpp
index ce1cfc19ec..1326635b25 100644
--- a/hal/lib/athena/DIO.cpp
+++ b/hal/lib/athena/DIO.cpp
@@ -126,6 +126,10 @@ void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t* status) {
 void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t* status) {
   uint32_t id = (uint32_t)pwmGenerator;
   if (id > 5) return;
+  if (pin >= kNumHeaders) {       // if it is on the MXP
+    pin += kMXPDigitalPWMOffset;  // then to write as a digital PWM pin requires
+                                  // an offset to write on the correct pin
+  }
   digitalSystem->writePWMOutputSelect(id, pin, status);
 }
 
diff --git a/hal/lib/athena/DigitalInternal.h b/hal/lib/athena/DigitalInternal.h
index 44be4d3d5e..0bbf699172 100644
--- a/hal/lib/athena/DigitalInternal.h
+++ b/hal/lib/athena/DigitalInternal.h
@@ -16,7 +16,9 @@ namespace hal {
 constexpr uint32_t kNumHeaders = 10;  // Number of non-MXP pins
 constexpr uint32_t kDigitalPins = 26;
 constexpr uint32_t kPwmPins = 20;
-
+constexpr uint32_t kMXPDigitalPWMOffset = 6;  // MXP pins when used as digital
+                                              // output pwm are offset by 6 from
+                                              // actual value
 constexpr uint32_t kExpectedLoopTiming = 40;
 
 /**