diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index cdbceb4..bf4d3b5 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -119,6 +119,10 @@
   // LOW_ARM_ZERO works by moving the intake out of the way, lifting the arm up,
   // leveling the shooter, and then moving back down.
 
+  if (arm_.error() || intake_.error()) {
+    state_ = ESTOP;
+  }
+
   switch (state_) {
     case UNINITIALIZED:
       // Wait in the uninitialized state until both the arm and intake are
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index 1350a15..a860f09 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -16,6 +16,8 @@
 namespace superstructure {
 namespace testing {
 class SuperstructureTest_DisabledGoalTest_Test;
+class SuperstructureTest_ArmZeroingErrorTest_Test;
+class SuperstructureTest_IntakeZeroingErrorTest_Test;
 }  // namespace testing
 
 class Superstructure
@@ -107,6 +109,8 @@
 
  private:
   friend class testing::SuperstructureTest_DisabledGoalTest_Test;
+  friend class testing::SuperstructureTest_ArmZeroingErrorTest_Test;
+  friend class testing::SuperstructureTest_IntakeZeroingErrorTest_Test;
   Intake intake_;
   Arm arm_;
 
diff --git a/y2016/control_loops/superstructure/superstructure_controls.cc b/y2016/control_loops/superstructure/superstructure_controls.cc
index a8953de..0798824 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.cc
+++ b/y2016/control_loops/superstructure/superstructure_controls.cc
@@ -54,6 +54,11 @@
 void Intake::Correct(PotAndIndexPosition position) {
   estimator_.UpdateEstimate(position);
 
+  if (estimator_.error()) {
+    LOG(ERROR, "zeroing error with intake_estimator\n");
+    return;
+  }
+
   if (!initialized_) {
     if (estimator_.offset_ready()) {
       UpdateIntakeOffset(estimator_.offset());
@@ -214,6 +219,16 @@
   shoulder_estimator_.UpdateEstimate(position_shoulder);
   wrist_estimator_.UpdateEstimate(position_wrist);
 
+  // Handle zeroing errors
+  if (shoulder_estimator_.error()) {
+    LOG(ERROR, "zeroing error with shoulder_estimator\n");
+    return;
+  }
+  if (wrist_estimator_.error()) {
+    LOG(ERROR, "zeroing error with wrist_estimator\n");
+    return;
+  }
+
   if (!initialized_) {
     if (shoulder_estimator_.offset_ready() && wrist_estimator_.offset_ready()) {
       UpdateShoulderOffset(shoulder_estimator_.offset());
diff --git a/y2016/control_loops/superstructure/superstructure_controls.h b/y2016/control_loops/superstructure/superstructure_controls.h
index d20b345..ce50b4b 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.h
+++ b/y2016/control_loops/superstructure/superstructure_controls.h
@@ -24,6 +24,8 @@
   // Returns whether the estimators have been initialized and zeroed.
   bool initialized() const { return initialized_; }
   bool zeroed() const { return zeroed_; }
+  // Returns whether an error has occured
+  bool error() const { return estimator_.error(); }
 
   // Updates our estimator with the latest position.
   void Correct(::frc971::PotAndIndexPosition position);
@@ -71,6 +73,10 @@
   const Eigen::Matrix<double, 3, 1> &X_hat() const { return loop_->X_hat(); }
   double X_hat(int row, int col) const { return loop_->X_hat(row, col); }
 
+  // For testing:
+  // Triggers an estimator error.
+  void TriggerEstimatorError() { estimator_.TriggerError(); }
+
  private:
   // Limits the provided goal to the soft limits.  Prints "name" when it fails
   // to aid debugging.
@@ -96,6 +102,7 @@
   bool zeroed_ = false;
 };
 
+
 class Arm {
  public:
   Arm();
@@ -104,6 +111,10 @@
   bool zeroed() const { return shoulder_zeroed_ && wrist_zeroed_; }
   bool shoulder_zeroed() const { return shoulder_zeroed_; }
   bool wrist_zeroed() const { return wrist_zeroed_; }
+  // Returns whether an error has occured
+  bool error() const {
+    return shoulder_estimator_.error() || wrist_estimator_.error();
+  }
 
   // Updates our estimator with the latest position.
   void Correct(::frc971::PotAndIndexPosition position_shoulder,
@@ -159,6 +170,10 @@
   const Eigen::Matrix<double, 6, 1> &X_hat() const { return loop_->X_hat(); }
   double X_hat(int row, int col) const { return loop_->X_hat(row, col); }
 
+  // For testing:
+  // Triggers an estimator error.
+  void TriggerEstimatorError() { shoulder_estimator_.TriggerError(); }
+
  private:
   // Limits the provided goal to the soft limits.  Prints "name" when it fails
   // to aid debugging.
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index 6d8c18f..7e5c37a 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -514,6 +514,26 @@
   VerifyNearGoal();
 }
 
+// Tests that the zeroing errors in the arm are caught
+TEST_F(SuperstructureTest, ArmZeroingErrorTest) {
+  RunIteration();
+  EXPECT_NE(Superstructure::ESTOP, superstructure_.state());
+  superstructure_.arm_.TriggerEstimatorError();
+  RunIteration();
+
+  EXPECT_EQ(Superstructure::ESTOP, superstructure_.state());
+}
+
+// Tests that the zeroing errors in the intake are caught
+TEST_F(SuperstructureTest, IntakeZeroingErrorTest) {
+  RunIteration();
+  EXPECT_NE(Superstructure::ESTOP, superstructure_.state());
+  superstructure_.intake_.TriggerEstimatorError();
+  RunIteration();
+
+  EXPECT_EQ(Superstructure::ESTOP, superstructure_.state());
+}
+
 }  // namespace testing
 }  // namespace superstructure
 }  // namespace control_loops