diff --git a/frc971/shooter_interpolation/interpolation.h b/frc971/shooter_interpolation/interpolation.h
index 933c95e..dd0e316 100644
--- a/frc971/shooter_interpolation/interpolation.h
+++ b/frc971/shooter_interpolation/interpolation.h
@@ -1,33 +1,85 @@
 #ifndef FRC971_SHOOTER_INTERPOLATION_INTERPOLATION_H_
 #define FRC971_SHOOTER_INTERPOLATION_INTERPOLATION_H_
 
+#include <algorithm>
 #include <utility>
 #include <vector>
 
 namespace frc971 {
 namespace shooter_interpolation {
 
-// Struct for shot angle and power
-struct ShotParams {
-  double angle;
-  double power;
-};
+double Blend(double coefficient, double a1, double a2);
 
+template <typename YValue>
 class InterpolationTable {
  public:
+  using Point = ::std::pair<double, YValue>;
   InterpolationTable() = default;
-  InterpolationTable(
-      const ::std::vector<::std::pair<double, ShotParams>> &table);
+  InterpolationTable(const ::std::vector<Point> &table);
 
   // Uses the interpolation table to calculate the optimal shooter angle and
   // power for a shot
-  ShotParams GetShooterData(double distance) const;
+  YValue Get(double x) const;
+
+  bool GetInRange(double x, YValue* type) const;
 
  private:
   // Contains the list of angle entries in the interpolation table
-  ::std::vector<::std::pair<double, ShotParams>> table_;
+  ::std::vector<Point> table_;
 };
 
+template <typename YValue>
+InterpolationTable<YValue>::InterpolationTable(const ::std::vector<Point> &table)
+  : table_(table) {
+    ::std::sort(table_.begin(), table_.end(),
+                [](const Point &a, const Point &b) {
+                return a.first < b.first;
+                });
+  }
+
+template <typename YValue>
+YValue InterpolationTable<YValue>::Get(double x) const {
+  // Points to to the smallest item such that it->first >= dist, or end() if no
+  // such item exists.
+  auto it = ::std::lower_bound(table_.begin(), table_.end(), x,
+                               [](const Point &a,
+                                  double dist) { return a.first < dist; });
+  if (it == table_.begin()) {
+    return it->second;
+  } else if (it == table_.end()) {
+    return table_.back().second;
+  } else {
+    auto x_a2 = it;
+    auto x_a1 = it - 1;
+    double x1 = x_a1->first;
+    double x2 = x_a2->first;
+    double coefficient = (x - x1) / (x2 - x1);
+    return YValue::BlendY(coefficient, x_a1->second, x_a2->second);
+  }
+}
+
+template <typename YValue>
+bool InterpolationTable<YValue>::GetInRange(double x, YValue* result) const {
+  // Points to to the smallest item such that it->first >= dist, or end() if no
+  // such item exists.
+  auto it = ::std::lower_bound(table_.begin(), table_.end(), x,
+                               [](const Point &a,
+                                  double dist) { return a.first < dist; });
+  if (it == table_.begin()) {
+    return false;
+  } else if (it == table_.end()) {
+    return false;
+  } else {
+    auto x_a2 = it;
+    auto x_a1 = it - 1;
+    double x1 = x_a1->first;
+    double x2 = x_a2->first;
+    double coefficient = (x - x1) / (x2 - x1);
+    *result = YValue::BlendY(coefficient, x_a1->second, x_a2->second);
+    return true;
+  }
+}
+
 }  // namespace shooter_interpolation
 }  // namespace frc971