diff --git a/y2015/control_loops/claw/claw.h b/y2015/control_loops/claw/claw.h
index 324f9f3..e7523eb 100644
--- a/y2015/control_loops/claw/claw.h
+++ b/y2015/control_loops/claw/claw.h
@@ -95,7 +95,7 @@
   // Latest position from queue.
   control_loops::ClawQueue::Position current_position_;
   // Zeroing estimator for claw.
-  ::frc971::zeroing::ZeroingEstimator claw_estimator_;
+  ::frc971::zeroing::PotAndIndexPulseZeroingEstimator claw_estimator_;
 
   // The goal for the claw.
   double claw_goal_ = 0.0;
diff --git a/y2015/control_loops/fridge/fridge.h b/y2015/control_loops/fridge/fridge.h
index ee64554..6152caf 100644
--- a/y2015/control_loops/fridge/fridge.h
+++ b/y2015/control_loops/fridge/fridge.h
@@ -22,7 +22,7 @@
 class FridgeTest_SafeArmZeroing_Test;
 }  // namespace testing
 
-template<int S>
+template <int S>
 class CappedStateFeedbackLoop : public StateFeedbackLoop<S, 2, 2> {
  public:
   CappedStateFeedbackLoop(StateFeedbackLoop<S, 2, 2> &&loop)
@@ -42,8 +42,7 @@
   double max_voltage_;
 };
 
-class Fridge
-    : public aos::controls::ControlLoop<FridgeQueue> {
+class Fridge : public aos::controls::ControlLoop<FridgeQueue> {
  public:
   explicit Fridge(FridgeQueue *fridge_queue =
                       &::y2015::control_loops::fridge::fridge_queue);
@@ -128,10 +127,10 @@
   ::std::unique_ptr<CappedStateFeedbackLoop<5>> arm_loop_;
   ::std::unique_ptr<CappedStateFeedbackLoop<4>> elevator_loop_;
 
-  ::frc971::zeroing::ZeroingEstimator left_arm_estimator_;
-  ::frc971::zeroing::ZeroingEstimator right_arm_estimator_;
-  ::frc971::zeroing::ZeroingEstimator left_elevator_estimator_;
-  ::frc971::zeroing::ZeroingEstimator right_elevator_estimator_;
+  ::frc971::zeroing::PotAndIndexPulseZeroingEstimator left_arm_estimator_;
+  ::frc971::zeroing::PotAndIndexPulseZeroingEstimator right_arm_estimator_;
+  ::frc971::zeroing::PotAndIndexPulseZeroingEstimator left_elevator_estimator_;
+  ::frc971::zeroing::PotAndIndexPulseZeroingEstimator right_elevator_estimator_;
 
   // Offsets from the encoder position to the absolute position.  Add these to
   // the encoder position to get the absolute position.
@@ -170,5 +169,4 @@
 }  // namespace control_loops
 }  // namespace y2015
 
-#endif // Y2015_CONTROL_LOOPS_FRIDGE_H_
-
+#endif  // Y2015_CONTROL_LOOPS_FRIDGE_H_