diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index f7b1ffe..64db8b4 100755
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -758,6 +758,8 @@
   status->done_with_ball =
       is_ready() && separation_done_with_ball && bottom_done && bottom_velocity_done;
 
+  status->zeroed = is_ready();
+
   was_enabled_ = ::aos::robot_state->enabled;
 }
 
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 7f200a4..38e7efb 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -52,10 +52,12 @@
   };
 
   message Status {
+    // True if zeroed.
+    bool zeroed;
     // True if zeroed and within tolerance for separation and bottom angle.
     bool done;
     // True if zeroed and within tolerance for separation and bottom angle.
-	// seperation allowance much wider as a ball may be included
+    // seperation allowance much wider as a ball may be included
     bool done_with_ball;
     // Dump the values of the state matrix.
     double bottom;