diff --git a/y2023/control_loops/superstructure/BUILD b/y2023/control_loops/superstructure/BUILD
index 861bbf8..3d35dae 100644
--- a/y2023/control_loops/superstructure/BUILD
+++ b/y2023/control_loops/superstructure/BUILD
@@ -106,6 +106,8 @@
         "//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
         "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//frc971/shooter_interpolation:interpolation",
+        "//frc971/zeroing:absolute_encoder",
+        "//frc971/zeroing:pot_and_absolute_encoder",
         "//y2023:constants",
         "//y2023/constants:constants_fbs",
         "//y2023/constants:simulated_constants_sender",
diff --git a/y2023/control_loops/superstructure/arm/BUILD b/y2023/control_loops/superstructure/arm/BUILD
index a742c50..768a54e 100644
--- a/y2023/control_loops/superstructure/arm/BUILD
+++ b/y2023/control_loops/superstructure/arm/BUILD
@@ -16,6 +16,7 @@
         "//frc971/control_loops/double_jointed_arm:graph",
         "//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
         "//frc971/zeroing",
+        "//frc971/zeroing:pot_and_absolute_encoder",
         "//y2023:constants",
         "//y2023/control_loops/superstructure:superstructure_position_fbs",
         "//y2023/control_loops/superstructure:superstructure_status_fbs",
diff --git a/y2023/control_loops/superstructure/arm/arm.h b/y2023/control_loops/superstructure/arm/arm.h
index 1f97d80..6153400 100644
--- a/y2023/control_loops/superstructure/arm/arm.h
+++ b/y2023/control_loops/superstructure/arm/arm.h
@@ -5,6 +5,7 @@
 #include "frc971/control_loops/double_jointed_arm/dynamics.h"
 #include "frc971/control_loops/double_jointed_arm/ekf.h"
 #include "frc971/control_loops/double_jointed_arm/graph.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
 #include "frc971/zeroing/zeroing.h"
 #include "y2023/constants.h"
 #include "y2023/control_loops/superstructure/arm/generated_graph.h"
diff --git a/y2023/control_loops/superstructure/superstructure.h b/y2023/control_loops/superstructure/superstructure.h
index fdfef4e..bcee3ea 100644
--- a/y2023/control_loops/superstructure/superstructure.h
+++ b/y2023/control_loops/superstructure/superstructure.h
@@ -7,6 +7,8 @@
 #include "frc971/control_loops/control_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain_can_position_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
 #include "y2023/constants.h"
 #include "y2023/constants/constants_generated.h"
 #include "y2023/control_loops/superstructure/arm/arm.h"
diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index 26b88f3..926846e 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -9,6 +9,7 @@
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "frc971/control_loops/subsystem_simulator.h"
 #include "frc971/control_loops/team_number_test_environment.h"
+#include "frc971/zeroing/absolute_encoder.h"
 #include "y2023/constants/simulated_constants_sender.h"
 #include "y2023/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "y2023/control_loops/superstructure/roll/integral_roll_plant.h"