diff --git a/frc971/zeroing/zeroing.cc b/frc971/zeroing/zeroing.cc
index 92f2875..d45c49f 100644
--- a/frc971/zeroing/zeroing.cc
+++ b/frc971/zeroing/zeroing.cc
@@ -24,6 +24,14 @@
   zeroed_ = false;
   wait_for_index_pulse_ = true;
   last_used_index_pulse_count_ = 0;
+  error_ = false;
+}
+
+void ZeroingEstimator::TriggerError() {
+  if (!error_) {
+    LOG(ERROR, "Manually triggered zeroing error.\n");
+    error_ = true;
+  }
 }
 
 double ZeroingEstimator::CalculateStartPosition(double start_average,