diff --git a/frc971/zeroing/zeroing.cc b/frc971/zeroing/zeroing.cc
index a0d3ba4..f6eddb5 100644
--- a/frc971/zeroing/zeroing.cc
+++ b/frc971/zeroing/zeroing.cc
@@ -5,14 +5,33 @@
 namespace frc971 {
 namespace zeroing {
 
+ZeroingEstimator::ZeroingEstimator(
+    const constants::Values::ZeroingConstants& constants) {
+  DoInit(constants.index_difference, constants.average_filter_size);
+}
+
 ZeroingEstimator::ZeroingEstimator(double index_difference,
                                    size_t max_sample_count) {
+  DoInit(index_difference, max_sample_count);
+}
+
+void ZeroingEstimator::DoInit(double index_difference,
+                              size_t max_sample_count) {
   index_diff_ = index_difference;
   samples_idx_ = 0;
   max_sample_count_ = max_sample_count;
   start_pos_samples_.reserve(max_sample_count);
 }
 
+void ZeroingEstimator::UpdateEstimate(const PotAndIndexPosition& info) {
+  ZeroingInfo zinfo;
+  zinfo.pot = info.pot;
+  zinfo.encoder = info.encoder;
+  zinfo.index_encoder = info.latched_encoder;
+  zinfo.index_count = info.index_pulses;
+  UpdateEstimate(zinfo);
+}
+
 void ZeroingEstimator::UpdateEstimate(const ZeroingInfo & info) {
   if (start_pos_samples_.size() < max_sample_count_) {
     start_pos_samples_.push_back(info.pot - info.encoder);
@@ -32,19 +51,21 @@
    * the average of the starting position to
    * calculate the position.
    */
+  double pos;
   if (info.index_count == 0) {
-    pos_ = start_average + info.encoder;
+    pos = start_average + info.encoder;
+    zeroed_ = false;
   } else {
-  	// We calculate an aproximation of the value of the last index position.
+    // We calculate an aproximation of the value of the last index position.
     double index_pos = start_average + info.index_encoder;
-	// We round index_pos to the closest valid value of the index.
+    // We round index_pos to the closest valid value of the index.
     double accurate_index_pos = (round(index_pos / index_diff_)) * index_diff_;
-	// We use accurate_index_pos to calculate the position.
-    pos_ = accurate_index_pos + info.encoder - info.index_encoder;
+    // We use accurate_index_pos to calculate the position.
+    pos = accurate_index_pos + info.encoder - info.index_encoder;
+    zeroed_ = true;
   }
+  offset_ = pos - info.encoder;
 }
 
-double ZeroingEstimator::getPosition() { return pos_; }
-
 }  // namespace zeroing
 }  // namespace frc971