diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
new file mode 100644
index 0000000..1e3bac9
--- /dev/null
+++ b/frc971/zeroing/zeroing.h
@@ -0,0 +1,35 @@
+#ifndef FRC971_ZEROING_ZEROING_H_
+#define FRC971_ZEROING_ZEROING_H_
+
+#include <vector>
+#include "frc971/zeroing/zeroing_queue.q.h"
+
+namespace frc971 {
+namespace zeroing {
+
+// Estimates the position with encoder,
+// the pot and the indices.
+class ZeroingEstimator {
+ public:
+  ZeroingEstimator(double index_difference, size_t max_sample_count);
+  void UpdateEstimate(const ZeroingInfo& info);
+  double getPosition();
+ private:
+  // The estimated position.
+  double pos_;
+  // The distance between two consecutive index positions.
+  double index_diff_;
+  // The next position in 'start_pos_samples_' to be used to store the
+  // next sample.
+  int samples_idx_;
+  // Last 'max_sample_count_' samples for start positions.
+  std::vector<double> start_pos_samples_;
+  // The number of the last samples of start position to consider
+  // in the estimation.
+  size_t max_sample_count_;
+};
+
+} // namespace zeroing
+} // namespace frc971
+
+#endif  // FRC971_ZEROING_ZEROING_H_