diff --git a/frc971/control_loops/profiled_subsystem.q b/frc971/control_loops/profiled_subsystem.q
index 784b92f..f3015c6 100644
--- a/frc971/control_loops/profiled_subsystem.q
+++ b/frc971/control_loops/profiled_subsystem.q
@@ -78,7 +78,7 @@
   .frc971.HallEffectAndPositionEstimatorState estimator_state;
 };
 
-struct AbsoluteProfiledJointStatus {
+struct PotAndAbsoluteEncoderProfiledJointStatus {
   // Is the subsystem zeroed?
   bool zeroed;
 
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
index 9ad7439..2709315 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
@@ -65,7 +65,8 @@
   void Iterate(const StaticZeroingSingleDOFProfiledSubsystemGoal *goal,
                const typename ZeroingEstimator::Position *position,
                double *output,
-               ::frc971::control_loops::AbsoluteProfiledJointStatus *status);
+               ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus
+                   *status);
 
   // Resets the profiled subsystem and returns to uninitialized
   void Reset();
@@ -119,7 +120,7 @@
 void StaticZeroingSingleDOFProfiledSubsystem<ZeroingEstimator>::Iterate(
     const StaticZeroingSingleDOFProfiledSubsystemGoal *goal,
     const typename ZeroingEstimator::Position *position, double *output,
-    ::frc971::control_loops::AbsoluteProfiledJointStatus *status) {
+    ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus *status) {
   bool disabled = output == nullptr;
   profiled_subsystem_.Correct(*position);
 
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
index 8805842..df26c56 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
@@ -62,7 +62,7 @@
 struct TestIntakeSystemData {
   ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal goal;
 
-  ::frc971::control_loops::AbsoluteProfiledJointStatus status;
+  ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus status;
 
   ::frc971::PotAndAbsolutePosition position;