diff -up ./server/drivers/mixed/erratic/erratic.cc.cpp11 ./server/drivers/mixed/erratic/erratic.cc
--- ./server/drivers/mixed/erratic/erratic.cc.cpp11	2009-01-24 18:14:21.000000000 -0500
+++ ./server/drivers/mixed/erratic/erratic.cc	2016-02-23 21:57:10.076216414 -0500
@@ -555,8 +555,8 @@ int Erratic::Connect()
       accel_packet = new ErraticPacket();
       accel_command[0] = (command_e)set_max_trans_acc;
       accel_command[1] = (argtype_e)argnint;
-      accel_command[2] = abs(this->motor_max_trans_decel) & 0x00FF;
-      accel_command[3] = (abs(this->motor_max_trans_decel) & 0xFF00) >> 8;
+      accel_command[2] = abs((int)this->motor_max_trans_decel) & 0x00FF;
+      accel_command[3] = (abs((int)this->motor_max_trans_decel) & 0xFF00) >> 8;
       accel_packet->Build(accel_command, 4);
       this->Send(accel_packet);
     } else if(this->motor_max_trans_accel != 0) {
@@ -582,8 +582,8 @@ int Erratic::Connect()
       accel_packet = new ErraticPacket();
       accel_command[0] = (command_e)set_max_rot_acc;
       accel_command[1] = (argtype_e)argnint;
-      accel_command[2] = abs(this->motor_max_rot_decel) & 0x00FF;
-      accel_command[3] = (abs(this->motor_max_rot_decel) & 0xFF00) >> 8;
+      accel_command[2] = abs((int)this->motor_max_rot_decel) & 0x00FF;
+      accel_command[3] = (abs((int)this->motor_max_rot_decel) & 0xFF00) >> 8;
       accel_packet->Build(accel_command, 4);
       this->Send(accel_packet);
     } else if(this->motor_max_rot_accel != 0) {
diff -up ./server/drivers/mixed/p2os/p2os.cc.cpp11 ./server/drivers/mixed/p2os/p2os.cc
--- ./server/drivers/mixed/p2os/p2os.cc.cpp11	2016-02-23 21:57:32.339085119 -0500
+++ ./server/drivers/mixed/p2os/p2os.cc	2016-02-23 21:58:20.457962734 -0500
@@ -1193,8 +1193,8 @@ int P2OS::MainSetup()
   {
     accel_command[0] = SETA;
     accel_command[1] = ARGNINT;
-    accel_command[2] = abs(this->motor_max_trans_decel) & 0x00FF;
-    accel_command[3] = (abs(this->motor_max_trans_decel) & 0xFF00) >> 8;
+    accel_command[2] = abs((int)this->motor_max_trans_decel) & 0x00FF;
+    accel_command[3] = (abs((int)this->motor_max_trans_decel) & 0xFF00) >> 8;
     accel_packet.Build(accel_command, 4);
     this->SendReceive(&accel_packet,false);
   }
@@ -1211,8 +1211,8 @@ int P2OS::MainSetup()
   {
     accel_command[0] = SETRA;
     accel_command[1] = ARGNINT;
-    accel_command[2] = abs(this->motor_max_rot_decel) & 0x00FF;
-    accel_command[3] = (abs(this->motor_max_rot_decel) & 0xFF00) >> 8;
+    accel_command[2] = abs((int)this->motor_max_rot_decel) & 0x00FF;
+    accel_command[3] = (abs((int)this->motor_max_rot_decel) & 0xFF00) >> 8;
     accel_packet.Build(accel_command, 4);
     this->SendReceive(&accel_packet,false);
   }
diff -up ./server/drivers/mixed/p2os/robot_params.cc.cpp11 ./server/drivers/mixed/p2os/robot_params.cc
--- ./server/drivers/mixed/p2os/robot_params.cc.cpp11	2016-02-23 22:02:50.158486543 -0500
+++ ./server/drivers/mixed/p2os/robot_params.cc	2016-02-23 22:12:42.737609170 -0500
@@ -419,7 +419,7 @@ RobotParams_t amigo_params =
   0,
   0,
   20,
-  0.6154,
+  (int)0.6154,
   0,
   {
     { 76, 100, 90 },
@@ -4897,7 +4897,7 @@ RobotParams_t pion1m_params =
   0,
   0,
   4,
-  2.5332,
+  (int)2.5332,
   0,
   {
     { 100, 100, 90 },
@@ -5089,7 +5089,7 @@ RobotParams_t pion1x_params =
   0,
   0,
   4,
-  2.5332,
+  (int)2.5332,
   0,
   {
     { 100, 100, 90 },
@@ -5281,7 +5281,7 @@ RobotParams_t pionat_params =
   0,
   0,
   4,
-  2.5332,
+  (int)2.5332,
   0,
   {
     { 100, 100, 90 },
@@ -5906,7 +5906,7 @@ RobotParams_t psos1m_params =
   0,
   0,
   4,
-  2.5332,
+  (int)2.5332,
   0,
   {
     { 100, 100, 90 },
@@ -6098,7 +6098,7 @@ RobotParams_t psos1x_params =
   0,
   0,
   4,
-  2.5332,
+  (int)2.5332,
   0,
   {
     { 100, 100, 90 },
@@ -6290,7 +6290,7 @@ RobotParams_t psos43m_params =
   0,
   0,
   4,
-  2.5332,
+  (int)2.5332,
   0,
   {
     { 100, 100, 90 },