diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 2bad4d9..c3ea79e 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -294,6 +294,16 @@
     ],
 )
 
+cc_binary(
+    name = "spline.so",
+    srcs = ["libspline.cc"],
+    deps = [
+        ":spline",
+        "//third_party/eigen",
+    ],
+    linkshared=1,
+)
+
 cc_test(
     name = "distance_spline_test",
     srcs = [
diff --git a/frc971/control_loops/drivetrain/libspline.cc b/frc971/control_loops/drivetrain/libspline.cc
new file mode 100644
index 0000000..f53dd23
--- /dev/null
+++ b/frc971/control_loops/drivetrain/libspline.cc
@@ -0,0 +1,70 @@
+#include <string.h>
+
+#include "Eigen/Dense"
+
+#include "frc971/control_loops/drivetrain/spline.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace drivetrain {
+
+extern "C" {
+  NSpline<6>* newSpline(double x[6], double y[6]) {
+    return new NSpline<6>((::Eigen::Matrix<double, 2, 6>() << x[0], x[1], x[2],
+                           x[3], x[4], x[5], y[0], y[1], y[2], y[3], y[4],
+                           y[5]).finished());
+  }
+
+  void deleteSpline(NSpline<6>* spline) {
+    delete spline;
+  }
+
+  void Point(NSpline<6>* spline, double alpha, double* res) {
+    double* val = spline->Point(alpha).data();
+    res[0] = val[0];
+    res[1] = val[1];
+  }
+
+  void DPoint(NSpline<6>* spline, double alpha, double* res) {
+    double* val = spline->DPoint(alpha).data();
+    res[0] = val[0];
+    res[1] = val[1];
+  }
+
+  void DDPoint(NSpline<6>* spline, double alpha, double* res) {
+    double* val = spline->DDPoint(alpha).data();
+    res[0] = val[0];
+    res[1] = val[1];
+  }
+
+  void DDDPoint(NSpline<6>* spline, double alpha, double* res) {
+    double* val = spline->DDDPoint(alpha).data();
+    res[0] = val[0];
+    res[1] = val[1];
+  }
+
+  double Theta(NSpline<6>* spline, double alpha) {
+    return spline->Theta(alpha);
+  }
+
+  double DTheta(NSpline<6>* spline, double alpha) {
+    return spline->DTheta(alpha);
+  }
+
+  double DDTheta(NSpline<6>* spline, double alpha) {
+    return spline->DDTheta(alpha);
+  }
+
+  void control_points(NSpline<6>* spline, double* x, double* y) {
+    auto points = spline->control_points();
+    // Deal with incorrectly strided matrix.
+    for (int i = 0; i < 6; ++i) {
+      x[i] = points(0, i);
+      y[i] = points(1, i);
+    }
+  }
+}
+
+}  // namespace drivetrain
+}  // namespace control_loops
+}  // namespace frc971