diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 7e78c72..2bad4d9 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -288,6 +288,7 @@
     hdrs = ["distance_spline.h"],
     deps = [
         ":spline",
+        "//aos/logging",
         "//frc971/control_loops:fixed_quadrature",
         "//third_party/eigen",
     ],
@@ -309,6 +310,7 @@
     deps = [
         ":distance_spline",
         "//aos/testing:googletest",
+        "//aos/testing:test_shm",
         "@com_github_gflags_gflags//:gflags",
     ] + cpu_select({
         "amd64": [
diff --git a/frc971/control_loops/drivetrain/distance_spline.cc b/frc971/control_loops/drivetrain/distance_spline.cc
index f07f5ee..1572526 100644
--- a/frc971/control_loops/drivetrain/distance_spline.cc
+++ b/frc971/control_loops/drivetrain/distance_spline.cc
@@ -1,5 +1,6 @@
 #include "frc971/control_loops/drivetrain/distance_spline.h"
 
+#include "aos/logging/logging.h"
 #include "frc971/control_loops/drivetrain/spline.h"
 
 namespace frc971 {
@@ -11,6 +12,46 @@
   ::std::vector<double> distances;
   distances.push_back(0.0);
 
+  if (splines_.size() > 1) {
+    // We've got a multispline to follow!
+    // Confirm that the ends line up to the correct number of derivitives.
+    for (size_t i = 1; i < splines_.size(); ++i) {
+      const Spline &spline0 = splines_[i - 1];
+      const Spline &spline1 = splines_[i];
+
+      const ::Eigen::Matrix<double, 2, 1> end0 = spline0.Point(1.0);
+      const ::Eigen::Matrix<double, 2, 1> start1 = spline1.Point(0.0);
+
+      if (!end0.isApprox(start1, 1e-6)) {
+        LOG(ERROR, "Splines %d and %d don't line up.  [%f, %f] != [%f, %f]\n",
+            static_cast<int>(i - 1), static_cast<int>(i), end0(0, 0),
+            end0(1, 0), start1(0, 0), start1(1, 0));
+      }
+
+      const ::Eigen::Matrix<double, 2, 1> dend0 = spline0.DPoint(1.0);
+      const ::Eigen::Matrix<double, 2, 1> dstart1 = spline1.DPoint(0.0);
+
+      if (!dend0.isApprox(dstart1, 1e-6)) {
+        LOG(ERROR,
+            "Splines %d and %d don't line up in the first derivitive.  [%f, "
+            "%f] != [%f, %f]\n",
+            static_cast<int>(i - 1), static_cast<int>(i), dend0(0, 0),
+            dend0(1, 0), dstart1(0, 0), dstart1(1, 0));
+      }
+
+      const ::Eigen::Matrix<double, 2, 1> ddend0 = spline0.DDPoint(1.0);
+      const ::Eigen::Matrix<double, 2, 1> ddstart1 = spline1.DDPoint(0.0);
+
+      if (!ddend0.isApprox(ddstart1, 1e-6)) {
+        LOG(ERROR,
+            "Splines %d and %d don't line up in the second derivitive.  [%f, "
+            "%f] != [%f, %f]\n",
+            static_cast<int>(i - 1), static_cast<int>(i), ddend0(0, 0),
+            ddend0(1, 0), ddstart1(0, 0), ddstart1(1, 0));
+      }
+    }
+  }
+
   const double dalpha =
       static_cast<double>(splines_.size()) / static_cast<double>(num_alpha - 1);
   double last_alpha = 0.0;
diff --git a/frc971/control_loops/drivetrain/distance_spline_test.cc b/frc971/control_loops/drivetrain/distance_spline_test.cc
index 210d4de..c9cb9f0 100644
--- a/frc971/control_loops/drivetrain/distance_spline_test.cc
+++ b/frc971/control_loops/drivetrain/distance_spline_test.cc
@@ -2,6 +2,7 @@
 
 #include <vector>
 
+#include "aos/testing/test_shm.h"
 #include "gflags/gflags.h"
 #include "gtest/gtest.h"
 #if defined(SUPPORT_PLOT)
@@ -21,6 +22,7 @@
  protected:
   ParameterizedDistanceSplineTest()
       : distance_spline_(::std::vector<Spline>(GetParam())) {}
+  ::aos::testing::TestSharedMemory shm_;
   DistanceSpline distance_spline_;
 };
 
diff --git a/frc971/control_loops/drivetrain/spline.h b/frc971/control_loops/drivetrain/spline.h
index f60eea5..e549811 100644
--- a/frc971/control_loops/drivetrain/spline.h
+++ b/frc971/control_loops/drivetrain/spline.h
@@ -11,9 +11,6 @@
 
 // Class to hold a spline as a function of alpha.  Alpha can only range between
 // 0.0 and 1.0.
-// TODO(austin): Need to be able to represent splines which have more than 2
-// control points at some point.  Or splines chained together.  This is close
-// enough for now.
 template <int N>
 class NSpline {
  public: