diff --git a/frc971/zeroing/imu_zeroer.h b/frc971/zeroing/imu_zeroer.h
new file mode 100644
index 0000000..e95c231
--- /dev/null
+++ b/frc971/zeroing/imu_zeroer.h
@@ -0,0 +1,54 @@
+#ifndef FRC971_ZEROING_IMU_ZEROER_H_
+#define FRC971_ZEROING_IMU_ZEROER_H_
+
+#include "frc971/wpilib/imu_generated.h"
+#include "frc971/zeroing/averager.h"
+
+namespace frc971::zeroing {
+
+// This class handles processing IMU measurements and zeroing them once it is
+// able to do so.
+class ImuZeroer {
+ public:
+  // Average 5 seconds of data (assuming 2kHz sampling rate).
+  static constexpr size_t kSamplesToAverage = 10000.0;
+
+  ImuZeroer();
+  bool Zeroed() const;
+  bool Faulted() const;
+  void ProcessMeasurement(const IMUValues &values);
+  Eigen::Vector3d GyroOffset() const;
+  Eigen::Vector3d ZeroedGyro() const;
+  Eigen::Vector3d ZeroedAccel() const;
+ private:
+  // Max variation (difference between the maximum and minimum value) in a
+  // kSamplesToAverage range before we allow using the samples for zeroing.
+  // These values are currently based on looking at results from the ADIS16448.
+  static constexpr double kGyroMaxVariation = 0.02;     // rad / sec
+  // Max variation in the range before we consider the accelerometer readings to
+  // be steady.
+  static constexpr double kAccelMaxVariation = 0.02;    // g's
+  // If we ever are able to rezero and get a zero that is more than
+  // kGyroFaultVariation away from the original zeroing, fault.
+  static constexpr double kGyroFaultVariation = 0.005;  // rad / sec
+
+  bool GyroZeroReady() const;
+  bool AccelZeroReady() const;
+
+  Averager<double, kSamplesToAverage, 3> gyro_averager_;
+  // Averager for the accelerometer readings--we don't currently actually
+  // average the readings, but we do check that the accelerometer readings have
+  // stayed roughly constant during the calibration period.
+  Averager<double, kSamplesToAverage, 3> accel_averager_;
+  // The average zero position of the gyro.
+  Eigen::Vector3d gyro_average_;
+  Eigen::Vector3d last_gyro_sample_;
+  Eigen::Vector3d last_accel_sample_;
+  // Whether we have currently zeroed yet.
+  bool zeroed_ = false;
+  // Whether the zeroing has faulted at any point thus far.
+  bool faulted_ = false;
+};
+
+}  // namespace frc971::zeroing
+#endif  // FRC971_ZEROING_IMU_ZEROER_H_