diff --git a/frc971/zeroing/zeroing_test.h b/frc971/zeroing/zeroing_test.h
new file mode 100644
index 0000000..9b7ba95
--- /dev/null
+++ b/frc971/zeroing/zeroing_test.h
@@ -0,0 +1,32 @@
+#include "frc971/zeroing/zeroing.h"
+
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/position_sensor_sim.h"
+#include "gtest/gtest.h"
+
+namespace frc971 {
+namespace zeroing {
+namespace testing {
+
+using control_loops::PositionSensorSimulator;
+using FBB = flatbuffers::FlatBufferBuilder;
+
+constexpr size_t kSampleSize = 30;
+constexpr double kAcceptableUnzeroedError = 0.2;
+constexpr double kIndexErrorFraction = 0.3;
+constexpr size_t kMovingBufferSize = 3;
+
+class ZeroingTest : public ::testing::Test {
+ protected:
+  template <typename T>
+  double GetEstimatorPosition(T *estimator) {
+    FBB fbb;
+    fbb.Finish(estimator->GetEstimatorState(&fbb));
+    return flatbuffers::GetRoot<typename T::State>(fbb.GetBufferPointer())
+        ->position();
+  }
+};
+
+}  // namespace testing
+}  // namespace zeroing
+}  // namespace frc971