diff --git a/config.h b/config.h
index e869cba..7c150b9 100644
--- a/config.h
+++ b/config.h
@@ -32,6 +32,10 @@
 #define STEP_RATIO_X (6432 / M_PI)
 #define STEP_RATIO_Y (6432 / M_PI)
 
+// Offset between home and zero [step]
+#define ZERO_OFFSET_X (0)
+#define ZERO_OFFSET_Y (2500)
+
 // Offset between turret and lidar [cm]
 #define OFFSET_X (0)
 #define OFFSET_Y (21)
diff --git a/turret.cpp b/turret.cpp
index fc570ed..bf4c705 100644
--- a/turret.cpp
+++ b/turret.cpp
@@ -3,8 +3,8 @@
 #include "maths.h"
 #include <kissStepper.h>
 
-Turret::Turret(StepRatio step_ratio, Offset offset, PinMap pin_map_x,
-               PinMap pin_map_y)
+Turret::Turret(StepRatio step_ratio, Offset offset, ZeroOffset zero_offset,
+               PinMap pin_map_x, PinMap pin_map_y)
     : _stepper(kissStepper(static_cast<uint8_t>(pin_map_x.direction),
                            static_cast<uint8_t>(pin_map_x.pulse),
                            static_cast<uint8_t>(pin_map_x.enable)),
@@ -16,6 +16,7 @@ Turret::Turret(StepRatio step_ratio, Offset offset, PinMap pin_map_x,
   _pin.y = pin_map_y;
   _step_ratio = step_ratio;
   _offset = offset;
+  _zero_offset = zero_offset;
 }
 
 Turret::~Turret() {
@@ -79,9 +80,8 @@ Turret &Turret::gotoHome() {
 }
 
 Turret &Turret::gotoZero() {
-  // TODO remove magic numbers
-  _stepper.x.prepareMove(_home.x + 0);
-  _stepper.y.prepareMove(_home.y + 2500);
+  _stepper.x.prepareMove(_home.x + _zero_offset.x);
+  _stepper.y.prepareMove(_home.y + _zero_offset.y);
 
   bool xStop = false;
   bool yStop = false;
diff --git a/turret.h b/turret.h
index e5cefb5..fed92cb 100644
--- a/turret.h
+++ b/turret.h
@@ -30,6 +30,8 @@ public:
   // y -> laser to stand
   // z -> unused
 
+  using ZeroOffset = vec2<long>;
+
   struct PinMap {
     int home;
     int direction;
@@ -38,8 +40,8 @@ public:
     int laser;
   };
 
-  Turret(StepRatio step_ratio, Offset offset, PinMap pin_map_x,
-         PinMap pin_map_y);
+  Turret(StepRatio step_ratio, Offset offset, ZeroOffset zero_offset,
+         PinMap pin_map_x, PinMap pin_map_y);
   ~Turret();
 
   Turret &init();
@@ -74,6 +76,7 @@ private:
   vec2<PinMap> _pin;
   StepRatio _step_ratio;
   Offset _offset;
+  ZeroOffset _zero_offset;
 };
 
 #endif
diff --git a/turret_debug.ino b/turret_debug.ino
index 6806f71..2a3c56a 100644
--- a/turret_debug.ino
+++ b/turret_debug.ino
@@ -19,8 +19,9 @@ Turret::PinMap pinY = {
 
 Turret::StepRatio stepRatio(STEP_RATIO_X, STEP_RATIO_Y);
 Turret::Offset offset(OFFSET_X, OFFSET_Y, OFFSET_Z);
+Turret::ZeroOffset zeroOffset(ZERO_OFFSET_X, ZERO_OFFSET_Y);
 
-Turret turret(stepRatio, offset, pinX, pinY);
+Turret turret(stepRatio, offset, zeroOffset, pinX, pinY);
 
 void setup() {
   turret.init();