diff --git a/frc971/control_loops/control_loops.q b/frc971/control_loops/control_loops.q
index 37a6420..34b2467 100644
--- a/frc971/control_loops/control_loops.q
+++ b/frc971/control_loops/control_loops.q
@@ -29,6 +29,9 @@
   bool zeroed;
   // The estimated position of the joint.
   double position;
+
+  // The estimated position not using the index pulse.
+  double pot_position;
 };
 
 // A left/right pair of PotAndIndexPositions.
diff --git a/frc971/zeroing/zeroing.cc b/frc971/zeroing/zeroing.cc
index 5184ad4..e8cac6f 100644
--- a/frc971/zeroing/zeroing.cc
+++ b/frc971/zeroing/zeroing.cc
@@ -11,6 +11,7 @@
   state->error = estimator.error();
   state->zeroed = estimator.zeroed();
   state->position = estimator.position();
+  state->pot_position = estimator.filtered_position();
 }
 
 ZeroingEstimator::ZeroingEstimator(
@@ -122,6 +123,7 @@
   }
 
   pos_ = start_pos_ + info.encoder;
+  filtered_position_ = start_average + info.encoder;
 }
 
 }  // namespace zeroing
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 433745a..5216df0 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -53,6 +53,10 @@
   // some contexts we refer to this as the "offset".
   double offset() const { return start_pos_; }
 
+  // Return the estimated position of the corresponding mechanism not using the
+  // index pulse, even if one is available.
+  double filtered_position() const { return filtered_position_; }
+
   // Returns a number between 0 and 1 that represents the percentage of the
   // samples being used in the moving average filter. A value of 0.0 means that
   // no samples are being used. A value of 1.0 means that the filter is using
@@ -76,6 +80,8 @@
 
   // The estimated position.
   double pos_;
+  // The unzeroed filtered position.
+  double filtered_position_ = 0.0;
   // The distance between two consecutive index positions.
   double index_diff_;
   // The next position in 'start_pos_samples_' to be used to store the next