diff --git a/frc971/shooter_interpolation/interpolation.cc b/frc971/shooter_interpolation/interpolation.cc
new file mode 100644
index 0000000..71989ff
--- /dev/null
+++ b/frc971/shooter_interpolation/interpolation.cc
@@ -0,0 +1,55 @@
+#include "frc971/shooter_interpolation/interpolation.h"
+
+#include <algorithm>
+#include <utility>
+#include <vector>
+
+namespace frc971 {
+namespace shooter_interpolation {
+
+namespace {
+
+double Blend(double coefficient, double a1, double a2) {
+  return (1 - coefficient) * a1 + coefficient * a2;
+}
+
+ShotParams Blend(double coefficient, ShotParams a1, ShotParams a2) {
+  return ShotParams{Blend(coefficient, a1.angle, a2.angle),
+                    Blend(coefficient, a1.power, a2.power)};
+}
+
+}  // namespace
+
+InterpolationTable::InterpolationTable(
+    ::std::vector<::std::pair<double, ShotParams>> interpolation_table) {
+  interpolation_table_ = ::std::move(interpolation_table);
+  ::std::sort(interpolation_table_.begin(), interpolation_table_.end(),
+              [](const ::std::pair<double, ShotParams> &a,
+                 const ::std::pair<double, ShotParams> &b) {
+    return a.first < b.first;
+  });
+}
+
+ShotParams InterpolationTable::GetShooterData(double distance) {
+  // Points to to the smallest item such that it->first >= dist, or end() if no
+  // such item exists.
+  auto it =
+      std::lower_bound(interpolation_table_.begin(), interpolation_table_.end(),
+                       distance, [](const ::std::pair<double, ShotParams> &a,
+                                    double dist) { return a.first < dist; });
+  if (it == interpolation_table_.begin()) {
+    return it->second;
+  } else if (it == interpolation_table_.end()) {
+    return interpolation_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 = (distance - x1) / (x2 - x1);
+    return Blend(coefficient, x_a1->second, x_a2->second);
+  }
+}
+
+}  // namespace shooter_interpolation
+}  // namespace frc971