diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index c0b71f7..bedd763 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -77,6 +77,16 @@
 )
 
 py_library(
+    name = "libspline",
+    srcs = [
+        "libspline.py",
+    ],
+    data = [
+        "//frc971/control_loops/drivetrain:spline.so"
+    ],
+)
+
+py_library(
     name = "polydrivetrain",
     srcs = [
         "polydrivetrain.py",
diff --git a/frc971/control_loops/python/libspline.py b/frc971/control_loops/python/libspline.py
new file mode 100644
index 0000000..62daca1
--- /dev/null
+++ b/frc971/control_loops/python/libspline.py
@@ -0,0 +1,71 @@
+#!/usr/bin/python
+
+"""Wrapper around spline.h/cc through spline_array.cc."""
+
+__author__ = 'Alex Perry (alex.perry96@gmail.com)'
+
+import ctypes as ct
+import numpy as np
+import os
+
+libSpline = None
+for path in os.environ.get('PYTHONPATH').split(':'):
+    try:
+        libSpline = ct.cdll.LoadLibrary(os.path.join(path, 'frc971/control_loops/drivetrain/spline.so'))
+    except OSError, e:
+        pass
+
+# Define required output types.
+libSpline.Theta.restype = ct.c_double
+libSpline.DTheta.restype = ct.c_double
+libSpline.DDTheta.restype = ct.c_double
+
+class Spline:
+    """A wrapper around spline.h/cc through spline_array.cc."""
+
+    def __init__(self):
+        self.__points = np.zeros((2,6))
+        self.__spline = libSpline.newSpline(np.ctypeslib.as_ctypes(self.__points[0]),
+                                            np.ctypeslib.as_ctypes(self.__points[1]))
+
+    def __del__(self):
+        libSpline.deleteSpline(self.__spline)
+
+    def setPoint(self, index, x, y):
+        self.__points[0, index] = x
+        self.__points[1, index] = y
+        libSpline.deleteSpline(self.__spline)
+        self.__spline = libSpline.newSpline(np.ctypeslib.as_ctypes(self.__points[0]),
+                                            np.ctypeslib.as_ctypes(self.__points[1]))
+
+    def Point(self, alpha):
+        result = np.zeros(2)
+        libSpline.Point(self.__spline, ct.c_double(alpha), np.ctypeslib.as_ctypes(result))
+        return result
+
+    def DPoint(self, alpha):
+        result = np.zeros(2)
+        libSpline.DPoint(self.__spline, ct.c_double(alpha), np.ctypeslib.as_ctypes(result))
+        return result
+
+    def DDPoint(self, alpha):
+        result = np.zeros(2)
+        libSpline.DDPoint(self.__spline, ct.c_double(alpha), np.ctypeslib.as_ctypes(result))
+        return result
+
+    def DDDPoint(self, alpha):
+        result = np.zeros(2)
+        libSpline.DDDPoint(self.__spline, ct.c_double(alpha), np.ctypeslib.as_ctypes(result))
+        return result
+
+    def Theta(self, alpha):
+        return libSpline.Theta(self.__spline, ct.c_double(alpha))
+
+    def DTheta(self, alpha):
+        return libSpline.DTheta(self.__spline, ct.c_double(alpha))
+
+    def DDTheta(self, alpha):
+        return libSpline.DDTheta(self.__spline, ct.c_double(alpha))
+
+    def ControlPoints(self):
+        return self.__points;