diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index d4c765f..05889e4 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -106,6 +106,13 @@
                 drivetrain_motor_plant_.GetRightPosition(), 1e-3);
   }
 
+  void VerifyNearPosition(double x, double y) {
+    my_drivetrain_queue_.status.FetchLatest();
+    auto actual = drivetrain_motor_plant_.GetPosition();
+    EXPECT_NEAR(actual(0), x, 1e-2);
+    EXPECT_NEAR(actual(1), y, 1e-2);
+  }
+
   void VerifyNearSplineGoal() {
     my_drivetrain_queue_.status.FetchLatest();
     double expected_x = my_drivetrain_queue_.status->trajectory_logging.x;
@@ -720,6 +727,29 @@
   VerifyNearSplineGoal();
 }
 
+//Tests that a trajectory can be executed after it is planned.
+TEST_F(DrivetrainTest, SplineExecuteAfterPlan) {
+  ::aos::ScopedMessagePtr<::frc971::control_loops::DrivetrainQueue::Goal> goal =
+      my_drivetrain_queue_.goal.MakeMessage();
+  goal->controller_type = 2;
+  goal->spline.spline_idx = 1;
+  goal->spline.spline_count = 1;
+  goal->spline.spline_x = {{0.0, 0.25, 0.5, 0.5, 0.75, 1.0}};
+  goal->spline.spline_y = {{0.0, 0.0, 0.25, 0.75, 1.0, 1.0}};
+  goal.Send();
+  WaitForTrajectoryPlan();
+  RunForTime(chrono::milliseconds(2000));
+
+  ::aos::ScopedMessagePtr<::frc971::control_loops::DrivetrainQueue::Goal>
+      start_goal = my_drivetrain_queue_.goal.MakeMessage();
+  start_goal->controller_type = 2;
+  start_goal->spline_handle = 1;
+  start_goal.Send();
+  RunForTime(chrono::milliseconds(2000));
+
+  VerifyNearPosition(1.0, 1.0);
+}
+
 // The LineFollowDrivetrain logic is tested in line_follow_drivetrain_test. This
 // tests that the integration with drivetrain_lib worked properly.
 TEST_F(DrivetrainTest, BasicLineFollow) {
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.cc b/frc971/control_loops/drivetrain/splinedrivetrain.cc
index 0b6026d..a37ca0e 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.cc
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.cc
@@ -93,7 +93,7 @@
     const ::frc971::control_loops::DrivetrainQueue::Goal &goal) {
   current_spline_handle_ = goal.spline_handle;
   // If told to stop, set the executing spline to an invalid index.
-  if (current_spline_handle_ == 0) {
+  if (current_spline_handle_ == 0 && has_started_execution_) {
     current_spline_idx_ = -1;
   }
 
@@ -119,6 +119,7 @@
       // Reset internal state to a trajectory start position.
       current_xva_ = current_trajectory_->FFAcceleration(0);
       current_xva_(1) = 0.0;
+      has_started_execution_ = false;
     }
     mutex_.Unlock();
   }
@@ -133,6 +134,7 @@
     ::Eigen::Matrix<double, 2, 1> U_ff = ::Eigen::Matrix<double, 2, 1>::Zero();
     if (!IsAtEnd() &&
         current_spline_handle_ == current_spline_idx_) {
+      has_started_execution_ = true;
       // TODO(alex): It takes about a cycle for the outputs to propagate to the
       // motors. Consider delaying the output by a cycle.
       U_ff = current_trajectory_->FFVoltage(current_xva_(0));
@@ -187,7 +189,7 @@
       status->trajectory_logging.right_velocity = goal_state(4);
     }
     status->trajectory_logging.planning_state = static_cast<int8_t>(plan_state_.load());
-    status->trajectory_logging.is_executing = !IsAtEnd();
+    status->trajectory_logging.is_executing = !IsAtEnd() && has_started_execution_;
     status->trajectory_logging.goal_spline_handle = current_spline_handle_;
     status->trajectory_logging.current_spline_idx = current_spline_idx_;
 
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.h b/frc971/control_loops/drivetrain/splinedrivetrain.h
index 3e47f5a..d70cb6d 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.h
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.h
@@ -70,6 +70,7 @@
 
   int32_t current_spline_handle_ = 0;  // Current spline told to excecute.
   int32_t current_spline_idx_ = 0;     // Current executing spline.
+  bool has_started_execution_ = false;
 
   ::std::unique_ptr<DistanceSpline> current_distance_spline_;
   ::std::unique_ptr<Trajectory> current_trajectory_;