diff --git a/frc971/zeroing/zeroing.gyp b/frc971/zeroing/zeroing.gyp
index 3d17f13..a868e19 100644
--- a/frc971/zeroing/zeroing.gyp
+++ b/frc971/zeroing/zeroing.gyp
@@ -1,29 +1,16 @@
 {
   'targets': [
     {
-      'target_name': 'zeroing_queue',
-      'type': 'static_library',
-      'sources': [
-        '<(DEPTH)/frc971/zeroing/zeroing_queue.q',
-      ],
-      'variables': {
-        'header_path': 'frc971/zeroing',
-      },
-      'includes': ['../../aos/build/queues.gypi'],
-    },
-    {
       'target_name': 'zeroing',
       'type': 'static_library',
       'sources': [
         'zeroing.cc',
       ],
       'dependencies': [
-        'zeroing_queue',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
         '<(DEPTH)/frc971/frc971.gyp:constants',
       ],
       'export_dependent_settings': [
-        'zeroing_queue',
         '<(DEPTH)/frc971/frc971.gyp:constants',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
       ],
@@ -38,9 +25,10 @@
         '<(EXTERNALS):gtest',
         '<(AOS)/common/common.gyp:queue_testutils',
         'zeroing',
-        'zeroing_queue',
         '<(AOS)/common/util/util.gyp:thread',
         '<(AOS)/common/common.gyp:die',
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:position_sensor_sim',
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
       ],
     },
   ],