diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index e0db64c..e370f0e 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -86,6 +86,7 @@
         "//aos/events:event_loop",
         "//frc971/control_loops:control_loop",
         "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+        "//frc971/zeroing:pot_and_absolute_encoder",
         "//y2022:constants",
         "//y2022/control_loops/superstructure/catapult",
         "//y2022/control_loops/superstructure/turret:aiming",
diff --git a/y2022/control_loops/superstructure/catapult/BUILD b/y2022/control_loops/superstructure/catapult/BUILD
index a43925e..36e34bd 100644
--- a/y2022/control_loops/superstructure/catapult/BUILD
+++ b/y2022/control_loops/superstructure/catapult/BUILD
@@ -41,6 +41,7 @@
     deps = [
         ":catapult_plants",
         "//aos:realtime",
+        "//frc971/zeroing:pot_and_absolute_encoder",
         "//third_party/osqp-cpp",
         "//y2022:constants",
         "//y2022/control_loops/superstructure:superstructure_goal_fbs",
diff --git a/y2022/control_loops/superstructure/catapult/catapult.h b/y2022/control_loops/superstructure/catapult/catapult.h
index a4c82de..d30e8f5 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.h
+++ b/y2022/control_loops/superstructure/catapult/catapult.h
@@ -5,6 +5,7 @@
 #include "glog/logging.h"
 
 #include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
 #include "osqp++.h"
 #include "y2022/constants.h"
 #include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index 5e3415c..36269e9 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -4,6 +4,7 @@
 #include "aos/events/event_loop.h"
 #include "frc971/control_loops/control_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
 #include "y2022/constants.h"
 #include "y2022/control_loops/superstructure/catapult/catapult.h"
 #include "y2022/control_loops/superstructure/collision_avoidance.h"