diff --git a/frc971/control_loops/drivetrain/libspline.cc b/frc971/control_loops/drivetrain/libspline.cc
index 1d7aa0b..5f5b02e 100644
--- a/frc971/control_loops/drivetrain/libspline.cc
+++ b/frc971/control_loops/drivetrain/libspline.cc
@@ -25,27 +25,27 @@
   void deleteSpline(NSpline<6> *spline) { delete spline; }
 
   void SplinePoint(NSpline<6> *spline, double alpha, double *res) {
-    double *val = spline->Point(alpha).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d xy = spline->Point(alpha);
+    res[0] = xy.x();
+    res[1] = xy.y();
   }
 
   void SplineDPoint(NSpline<6> *spline, double alpha, double *res) {
-    double *val = spline->DPoint(alpha).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d dxy = spline->DPoint(alpha);
+    res[0] = dxy.x();
+    res[1] = dxy.y();
   }
 
   void SplineDDPoint(NSpline<6> *spline, double alpha, double *res) {
-    double *val = spline->DDPoint(alpha).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d ddxy = spline->DDPoint(alpha);
+    res[0] = ddxy.x();
+    res[1] = ddxy.y();
   }
 
   void SplineDDDPoint(NSpline<6> *spline, double alpha, double *res) {
-    double *val = spline->DDDPoint(alpha).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d dddxy = spline->DDDPoint(alpha);
+    res[0] = dddxy.x();
+    res[1] = dddxy.y();
   }
 
   double SplineTheta(NSpline<6> *spline, double alpha) {
@@ -81,22 +81,22 @@
   void deleteDistanceSpline(DistanceSpline *spline) { delete spline; }
 
   void DistanceSplineXY(DistanceSpline *spline, double distance, double *res) {
-    double *val = spline->XY(distance).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d xy = spline->XY(distance);
+    res[0] = xy.x();
+    res[1] = xy.y();
   }
 
   void DistanceSplineDXY(DistanceSpline *spline, double distance, double *res) {
-    double *val = spline->DXY(distance).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d dxy = spline->DXY(distance);
+    res[0] = dxy.x();
+    res[1] = dxy.y();
   }
 
   void DistanceSplineDDXY(DistanceSpline *spline, double distance,
                           double *res) {
-    double *val = spline->DDXY(distance).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d ddxy = spline->DDXY(distance);
+    res[0] = ddxy.x();
+    res[1] = ddxy.y();
   }
 
   double DistanceSplineTheta(DistanceSpline *spline, double distance) {
@@ -150,9 +150,9 @@
   void TrajectoryPlan(Trajectory *t) { t->Plan(); }
 
   void TrajectoryVoltage(Trajectory *t, double distance, double* res) {
-    double *val = t->FFVoltage(distance).data();
-    res[0] = val[0];
-    res[1] = val[1];
+    const Eigen::Vector2d ff_voltage = t->FFVoltage(distance);
+    res[0] = ff_voltage.x();
+    res[1] = ff_voltage.y();
   }
 
   double TrajectoryLength(Trajectory *t) { return t->length(); }
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
index 7fe5cad..7c92f8b 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
@@ -126,8 +126,10 @@
         freeze_delay = chrono::milliseconds(2000);
       }
     }
+    freeze_target_ = true;
+  } else {
+    freeze_target_ = now <= freeze_delay + last_enable_;
   }
-  freeze_target_ = now <= freeze_delay + last_enable_;
   // Set an adjustment that lets the driver tweak the offset for where we place
   // the target left/right.
   side_adjust_ = -goal->wheel() * 0.1;