diff --git a/frc971/control_loops/control_loops.q b/frc971/control_loops/control_loops.q
index 03e93fd..bebecd0 100644
--- a/frc971/control_loops/control_loops.q
+++ b/frc971/control_loops/control_loops.q
@@ -65,7 +65,7 @@
 };
 
 // The internal state of a zeroing estimator.
-struct AbsoluteEstimatorState {
+struct PotAndAbsoluteEncoderEstimatorState {
   // If true, there has been a fatal error for the estimator.
   bool error;
   // If the joint has seen an index pulse and is zeroed.
diff --git a/frc971/control_loops/profiled_subsystem.q b/frc971/control_loops/profiled_subsystem.q
index 3bcd6c2..d1356da 100644
--- a/frc971/control_loops/profiled_subsystem.q
+++ b/frc971/control_loops/profiled_subsystem.q
@@ -113,7 +113,7 @@
   float feedforwards_power;
 
   // State of the estimator.
-  .frc971.AbsoluteEstimatorState estimator_state;
+  .frc971.PotAndAbsoluteEncoderEstimatorState estimator_state;
 };
 
 struct IndexProfiledJointStatus {
diff --git a/frc971/zeroing/zeroing.cc b/frc971/zeroing/zeroing.cc
index 14d26c9..7005725 100644
--- a/frc971/zeroing/zeroing.cc
+++ b/frc971/zeroing/zeroing.cc
@@ -253,7 +253,7 @@
   return r;
 }
 
-PotAndAbsEncoderZeroingEstimator::PotAndAbsEncoderZeroingEstimator(
+PotAndAbsoluteEncoderZeroingEstimator::PotAndAbsoluteEncoderZeroingEstimator(
     const constants::PotAndAbsoluteEncoderZeroingConstants &constants)
     : constants_(constants) {
   relative_to_absolute_offset_samples_.reserve(constants_.average_filter_size);
@@ -261,7 +261,7 @@
   Reset();
 }
 
-void PotAndAbsEncoderZeroingEstimator::Reset() {
+void PotAndAbsoluteEncoderZeroingEstimator::Reset() {
   first_offset_ = 0.0;
   pot_relative_encoder_offset_ = 0.0;
   offset_ = 0.0;
@@ -293,7 +293,7 @@
 // of samples and check that the buffered samples are not different than the
 // zeroing threshold. At any point that the samples differ too much, do not
 // update estimates based on those samples.
-void PotAndAbsEncoderZeroingEstimator::UpdateEstimate(
+void PotAndAbsoluteEncoderZeroingEstimator::UpdateEstimate(
     const PotAndAbsolutePosition &info) {
   // Check for Abs Encoder NaN value that would mess up the rest of the zeroing
   // code below. NaN values are given when the Absolute Encoder is disconnected.
@@ -460,8 +460,8 @@
   position_ = offset_ + info.encoder;
 }
 
-PotAndAbsEncoderZeroingEstimator::State
-PotAndAbsEncoderZeroingEstimator::GetEstimatorState() const {
+PotAndAbsoluteEncoderZeroingEstimator::State
+PotAndAbsoluteEncoderZeroingEstimator::GetEstimatorState() const {
   State r;
   r.error = error_;
   r.zeroed = zeroed_;
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 07cc43a..4d4f13d 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -215,12 +215,12 @@
 
 // Estimates the position with an absolute encoder which also reports
 // incremental counts, and a potentiometer.
-class PotAndAbsEncoderZeroingEstimator
+class PotAndAbsoluteEncoderZeroingEstimator
     : public ZeroingEstimator<PotAndAbsolutePosition,
-    constants::PotAndAbsoluteEncoderZeroingConstants,
-    AbsoluteEstimatorState> {
+                              constants::PotAndAbsoluteEncoderZeroingConstants,
+                              PotAndAbsoluteEncoderEstimatorState> {
  public:
-  explicit PotAndAbsEncoderZeroingEstimator(
+  explicit PotAndAbsoluteEncoderZeroingEstimator(
       const constants::PotAndAbsoluteEncoderZeroingConstants &constants);
 
   // Resets the internal logic so it needs to be re-zeroed.
diff --git a/frc971/zeroing/zeroing_test.cc b/frc971/zeroing/zeroing_test.cc
index 7948bf4..2a35764 100644
--- a/frc971/zeroing/zeroing_test.cc
+++ b/frc971/zeroing/zeroing_test.cc
@@ -39,7 +39,7 @@
   }
 
   void MoveTo(PositionSensorSimulator *simulator,
-              PotAndAbsEncoderZeroingEstimator *estimator,
+              PotAndAbsoluteEncoderZeroingEstimator *estimator,
               double new_position) {
     PotAndAbsolutePosition sensor_values_;
     simulator->MoveTo(new_position);
@@ -338,7 +338,7 @@
   sim.Initialize(start_pos, index_diff / 3.0, 0.0,
                  constants.measured_absolute_position);
 
-  PotAndAbsEncoderZeroingEstimator estimator(constants);
+  PotAndAbsoluteEncoderZeroingEstimator estimator(constants);
 
   for (size_t i = 0; i < kSampleSize + kMovingBufferSize - 1; ++i) {
     MoveTo(&sim, &estimator, start_pos);
@@ -366,7 +366,7 @@
   sim.Initialize(start_pos, index_diff / 3.0, 0.0,
                  constants.measured_absolute_position);
 
-  PotAndAbsEncoderZeroingEstimator estimator(constants);
+  PotAndAbsoluteEncoderZeroingEstimator estimator(constants);
 
   // We tolerate a couple NANs before we start.
   PotAndAbsolutePosition sensor_values;
@@ -402,7 +402,7 @@
   sim.Initialize(start_pos, index_diff / 3.0, 0.0,
                  constants.measured_absolute_position);
 
-  PotAndAbsEncoderZeroingEstimator estimator(constants);
+  PotAndAbsoluteEncoderZeroingEstimator estimator(constants);
 
   for (size_t i = 0; i < kSampleSize + kMovingBufferSize - 1; ++i) {
     MoveTo(&sim, &estimator, start_pos + i * index_diff);
@@ -419,7 +419,7 @@
   PotAndAbsoluteEncoderZeroingConstants constants{
       kSampleSize, 1, 0.3, 0.1, kMovingBufferSize, kIndexErrorFraction};
 
-  PotAndAbsEncoderZeroingEstimator estimator(constants);
+  PotAndAbsoluteEncoderZeroingEstimator estimator(constants);
 
   PotAndAbsolutePosition sensor_values;
   sensor_values.absolute_encoder = ::std::numeric_limits<double>::quiet_NaN();