diff --git a/frc971/constants.h b/frc971/constants.h
index cf53287..0367937 100644
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -3,142 +3,34 @@
 
 #include <cstddef>
 
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/zeroing/constants_generated.h"
+
 namespace frc971 {
 namespace constants {
 
-struct HallEffectZeroingConstants {
-  // The absolute position of the lower edge of the hall effect sensor.
-  double lower_hall_position;
-  // The absolute position of the upper edge of the hall effect sensor.
-  double upper_hall_position;
-  // The difference in scaled units between two hall effect edges.  This is the
-  // number of units/cycle.
-  double index_difference;
-  // Number of cycles we need to see the hall effect high.
-  size_t hall_trigger_zeroing_length;
-  // Direction the system must be moving in order to zero. True is positive,
-  // False is negative direction.
-  bool zeroing_move_direction;
-};
+typedef frc971::zeroing::HallEffectZeroingConstantsT HallEffectZeroingConstants;
 
-struct PotAndIndexPulseZeroingConstants {
-  // The number of samples in the moving average filter.
-  size_t average_filter_size;
-  // The difference in scaled units between two index pulses.
-  double index_difference;
-  // The absolute position in scaled units of one of the index pulses.
-  double measured_index_position;
-  // Value between 0 and .5 which determines a fraction of the index_diff
-  // you want to use.
-  double allowable_encoder_error;
-};
+typedef frc971::zeroing::PotAndIndexPulseZeroingConstantsT
+    PotAndIndexPulseZeroingConstants;
 
-struct EncoderPlusIndexZeroingConstants {
-  // The amount of index pulses in the joint's range of motion.
-  int index_pulse_count;
-  // The difference in scaled units between two index pulses.
-  double index_difference;
-  // The absolute position in scaled units of one of the index pulses.
-  double measured_index_position;
-  // The index pulse that is known, going from lowest in the range of motion to
-  // highest (Starting at 0).
-  int known_index_pulse;
-  // Value between 0 and 0.5 which determines a fraction of the index_diff
-  // you want to use. If an index pulse deviates by more than this amount from
-  // where we expect to see one then we flag an error.
-  double allowable_encoder_error;
-};
+typedef frc971::zeroing::EncoderPlusIndexZeroingConstantsT
+    EncoderPlusIndexZeroingConstants;
 
-struct PotAndAbsoluteEncoderZeroingConstants {
-  // The number of samples in the moving average filter.
-  size_t average_filter_size;
-  // The distance that the absolute encoder needs to complete a full rotation.
-  double one_revolution_distance;
-  // Measured absolute position of the encoder when at zero.
-  double measured_absolute_position;
+typedef frc971::zeroing::PotAndAbsoluteEncoderZeroingConstantsT
+    PotAndAbsoluteEncoderZeroingConstants;
 
-  // Treshold for deciding if we are moving. moving_buffer_size samples need to
-  // be within this distance of each other before we use the middle one to zero.
-  double zeroing_threshold;
-  // Buffer size for deciding if we are moving.
-  size_t moving_buffer_size;
+typedef frc971::zeroing::RelativeEncoderZeroingConstantsT
+    RelativeEncoderZeroingConstants;
 
-  // Value between 0 and 1 indicating what fraction of one_revolution_distance
-  // it is acceptable for the offset to move.
-  double allowable_encoder_error;
-};
+typedef frc971::zeroing::ContinuousAbsoluteEncoderZeroingConstantsT
+    ContinuousAbsoluteEncoderZeroingConstants;
 
-struct RelativeEncoderZeroingConstants {};
+typedef frc971::zeroing::AbsoluteEncoderZeroingConstantsT
+    AbsoluteEncoderZeroingConstants;
 
-struct ContinuousAbsoluteEncoderZeroingConstants {
-  // The number of samples in the moving average filter.
-  size_t average_filter_size;
-  // The distance that the absolute encoder needs to complete a full rotation.
-  // It is presumed that this will always be 2 * pi for any subsystem using this
-  // class, unless you have a continuous system that for some reason doesn't
-  // have a logical period of 1 revolution in radians.
-  double one_revolution_distance;
-  // Measured absolute position of the encoder when at zero.
-  double measured_absolute_position;
-
-  // Threshold for deciding if we are moving. moving_buffer_size samples need to
-  // be within this distance of each other before we use the middle one to zero.
-  double zeroing_threshold;
-  // Buffer size for deciding if we are moving.
-  size_t moving_buffer_size;
-
-  // Value between 0 and 1 indicating what fraction of a revolution
-  // it is acceptable for the offset to move.
-  double allowable_encoder_error;
-};
-
-struct AbsoluteEncoderZeroingConstants {
-  // The number of samples in the moving average filter.
-  size_t average_filter_size;
-  // The distance that the absolute encoder needs to complete a full rotation.
-  double one_revolution_distance;
-  // Measured absolute position of the encoder when at zero.
-  double measured_absolute_position;
-  // Position of the middle of the range of motion in output coordinates.
-  double middle_position;
-
-  // Threshold for deciding if we are moving. moving_buffer_size samples need to
-  // be within this distance of each other before we use the middle one to zero.
-  double zeroing_threshold;
-  // Buffer size for deciding if we are moving.
-  size_t moving_buffer_size;
-
-  // Value between 0 and 1 indicating what fraction of one_revolution_distance
-  // it is acceptable for the offset to move.
-  double allowable_encoder_error;
-};
-
-struct AbsoluteAndAbsoluteEncoderZeroingConstants {
-  // The number of samples in the moving average filter.
-  size_t average_filter_size;
-  // The distance that the absolute encoder needs to complete a full rotation.
-  double one_revolution_distance;
-  // Measured absolute position of the encoder when at zero.
-  double measured_absolute_position;
-
-  // The distance that the single turn absolute encoder needs to complete a full
-  // rotation.
-  double single_turn_one_revolution_distance;
-  // Measured absolute position of the single turn encoder when at zero.
-  double single_turn_measured_absolute_position;
-  // Position of the middle of the range of motion in output coordinates.
-  double single_turn_middle_position;
-
-  // Threshold for deciding if we are moving. moving_buffer_size samples need to
-  // be within this distance of each other before we use the middle one to zero.
-  double zeroing_threshold;
-  // Buffer size for deciding if we are moving.
-  size_t moving_buffer_size;
-
-  // Value between 0 and 1 indicating what fraction of one_revolution_distance
-  // it is acceptable for the offset to move.
-  double allowable_encoder_error;
-};
+typedef frc971::zeroing::AbsoluteAndAbsoluteEncoderZeroingConstantsT
+    AbsoluteAndAbsoluteEncoderZeroingConstants;
 
 // Defines a range of motion for a subsystem.
 // These are all absolute positions in scaled units.
@@ -152,6 +44,13 @@
   constexpr double middle_soft() const { return (lower + upper) / 2.0; }
 
   constexpr double range() const { return upper_hard - lower_hard; }
+
+  static Range FromFlatbuffer(const frc971::Range *range) {
+    return {.lower_hard = range->lower_hard(),
+            .upper_hard = range->upper_hard(),
+            .lower = range->lower(),
+            .upper = range->upper()};
+  }
 };
 
 }  // namespace constants