diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 62d346e..ac2e49e 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -196,7 +196,7 @@
 class PulseIndexZeroingEstimator : public ZeroingEstimator {
  public:
   using Position = IndexPosition;
-  using ZeroingConstants = constants::PotAndIndexPulseZeroingConstants;
+  using ZeroingConstants = constants::EncoderPlusIndexZeroingConstants;
   using State = IndexEstimatorState;
 
   PulseIndexZeroingEstimator(
@@ -210,6 +210,9 @@
 
   bool zeroed() const override { return zeroed_; }
 
+  // It's as ready as it'll ever be...
+  bool offset_ready() const { return true; }
+
   double offset() const override { return offset_; }
 
   bool error() const override { return error_; }