diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 9b0400e..e332cfe 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -96,6 +96,7 @@
         ":drivetrain_queue",
         ":spline",
         ":trajectory",
+        "//aos:init",
     ],
 )
 
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.cc b/frc971/control_loops/drivetrain/splinedrivetrain.cc
index d8e2f9a..2621007 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.cc
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.cc
@@ -2,6 +2,7 @@
 
 #include "Eigen/Dense"
 
+#include "aos/init.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 
@@ -23,8 +24,9 @@
   }
 }
 
-// TODO(alex): work on setting priority.
 void SplineDrivetrain::ComputeTrajectory() {
+  ::aos::SetCurrentThreadRealtimePriority(1);
+
   ::aos::MutexLocker locker(&mutex_);
   while (run_) {
     while (goal_.spline.spline_idx == future_spline_idx_) {