diff --git a/frc971/zeroing/imu_zeroer.cc b/frc971/zeroing/imu_zeroer.cc
new file mode 100644
index 0000000..25bf6f6
--- /dev/null
+++ b/frc971/zeroing/imu_zeroer.cc
@@ -0,0 +1,52 @@
+#include "frc971/zeroing/imu_zeroer.h"
+
+namespace frc971::zeroing {
+
+ImuZeroer::ImuZeroer() {
+  gyro_average_.setZero();
+  last_gyro_sample_.setZero();
+  last_accel_sample_.setZero();
+}
+
+bool ImuZeroer::Zeroed() const { return zeroed_ || Faulted(); }
+
+bool ImuZeroer::Faulted() const { return faulted_; }
+
+Eigen::Vector3d ImuZeroer::ZeroedGyro() const {
+  return last_gyro_sample_ - gyro_average_;
+}
+Eigen::Vector3d ImuZeroer::ZeroedAccel() const { return last_accel_sample_; }
+Eigen::Vector3d ImuZeroer::GyroOffset() const { return gyro_average_; }
+
+bool ImuZeroer::GyroZeroReady() const {
+  return gyro_averager_.full() && gyro_averager_.GetRange() < kGyroMaxVariation;
+}
+
+bool ImuZeroer::AccelZeroReady() const {
+  return accel_averager_.full() &&
+         accel_averager_.GetRange() < kAccelMaxVariation;
+}
+
+void ImuZeroer::ProcessMeasurement(const IMUValues &values) {
+  last_gyro_sample_ << values.gyro_x(), values.gyro_y(), values.gyro_z();
+  gyro_averager_.AddData(last_gyro_sample_);
+  last_accel_sample_ << values.accelerometer_x(), values.accelerometer_y(),
+                           values.accelerometer_z();
+  accel_averager_.AddData(last_accel_sample_);
+  if (GyroZeroReady() && AccelZeroReady()) {
+    if (!zeroed_) {
+      zeroed_ = true;
+      gyro_average_ = gyro_averager_.GetAverage();
+    } else {
+      // If we got a new zero and it is substantially different from the
+      // original zero, fault.
+      if ((gyro_averager_.GetAverage() - gyro_average_).norm() >
+          kGyroFaultVariation) {
+        faulted_ = true;
+      }
+    }
+    gyro_averager_.Reset();
+  }
+}
+
+}  // namespace frc971::zeroing