diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index a9b3590..0a4666a 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -91,8 +91,10 @@
   ::aos::monotonic_clock::time_point claw_close_start_time_ =
       ::aos::monotonic_clock::min_time;
 
-  ::frc971::zeroing::PotAndAbsEncoderZeroingEstimator proximal_zeroing_estimator_;
-  ::frc971::zeroing::PotAndAbsEncoderZeroingEstimator distal_zeroing_estimator_;
+  ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator
+      proximal_zeroing_estimator_;
+  ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator
+      distal_zeroing_estimator_;
 
   double proximal_offset_ = 0.0;
   double distal_offset_ = 0.0;
diff --git a/y2018/control_loops/superstructure/intake/intake.h b/y2018/control_loops/superstructure/intake/intake.h
index dff0adc..552086a 100644
--- a/y2018/control_loops/superstructure/intake/intake.h
+++ b/y2018/control_loops/superstructure/intake/intake.h
@@ -104,7 +104,7 @@
 
   State state_ = State::UNINITIALIZED;
 
-  ::frc971::zeroing::PotAndAbsEncoderZeroingEstimator zeroing_estimator_;
+  ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator zeroing_estimator_;
 
   double intake_last_position_ = 0.0;
 };
diff --git a/y2018/control_loops/superstructure/superstructure.q b/y2018/control_loops/superstructure/superstructure.q
index ee38539..19fbc05 100644
--- a/y2018/control_loops/superstructure/superstructure.q
+++ b/y2018/control_loops/superstructure/superstructure.q
@@ -35,7 +35,7 @@
   float delayed_voltage;
 
   // State of the estimator.
-  .frc971.AbsoluteEstimatorState estimator_state;
+  .frc971.PotAndAbsoluteEncoderEstimatorState estimator_state;
 };
 
 struct IntakeGoal {
@@ -62,8 +62,8 @@
 
 struct ArmStatus {
   // State of the estimators.
-  .frc971.AbsoluteEstimatorState proximal_estimator_state;
-  .frc971.AbsoluteEstimatorState distal_estimator_state;
+  .frc971.PotAndAbsoluteEncoderEstimatorState proximal_estimator_state;
+  .frc971.PotAndAbsoluteEncoderEstimatorState distal_estimator_state;
 
   // The node we are currently going to.
   uint32_t current_node;