diff --git a/src/Vector2.cpp b/src/Vector2.cpp
index d47e44d..abf1b1b 100644
--- a/src/Vector2.cpp
+++ b/src/Vector2.cpp
@@ -3,10 +3,15 @@
 // file, You can obtain one at https ://mozilla.org/MPL/2.0/.
 
 #include "Vector2.h"
-#include <math.h>
 #include "Angle.h"
 #include "FloatSingle.h"
 
+#if defined(AVR)
+#include <Arduino.h>
+#else
+#include <math.h>
+#endif
+
 Vector2::Vector2() {
   x = 0;
   y = 0;
@@ -111,7 +116,11 @@ float Vector2::SignedAngle(Vector2 from, Vector2 to) {
   if (sqrMagFrom == 0 || sqrMagTo == 0)
     return 0;
   if (!isfinite(sqrMagFrom) || !isfinite(sqrMagTo))
+#if defined(AVR)
+    return NAN;
+#else
     return nanf("");
+#endif
 
   float angleFrom = atan2(from.y, from.x);
   float angleTo = atan2(to.y, to.x);
@@ -119,13 +128,18 @@ float Vector2::SignedAngle(Vector2 from, Vector2 to) {
 }
 
 Vector2 Vector2::Rotate(Vector2 v, float angle) {
-  float sin = (float)sinf(angle * Angle::Deg2Rad);
-  float cos = (float)cosf(angle * Angle::Deg2Rad);
+#if defined(AVR)
+  float sinValue = sin(angle * Angle::Deg2Rad);
+  float cosValue = cos(angle * Angle::Deg2Rad);
+#else
+  float sinValue = (float)sinf(angle * Angle::Deg2Rad);
+  float cosValue = (float)cosf(angle * Angle::Deg2Rad);
+#endif
 
   float tx = v.x;
   float ty = v.y;
-  v.x = (cos * tx) - (sin * ty);
-  v.y = (sin * tx) + (cos * ty);
+  v.x = (cosValue * tx) - (sinValue * ty);
+  v.y = (sinValue * tx) + (cosValue * ty);
   return v;
 }