diff --git a/.gitmodules b/.gitmodules
index 851b0d1ae59ab65f5cd40a14e20f91e25f7c594b..9cb25a5b6e5104f74ced1d329df6878982b79011 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -13,3 +13,8 @@
 [submodule "src/panda_teaching"]
 	path = src/panda_teaching
 	url = ../panda_teaching.git
+[submodule "src/zero"]
+	path = src/zero
+	url = ../zero.git
+	branch = master
+
diff --git a/src/Nikhil b/src/Nikhil
new file mode 160000
index 0000000000000000000000000000000000000000..451919af139ffb9a55622886162d70e2de41c1b2
--- /dev/null
+++ b/src/Nikhil
@@ -0,0 +1 @@
+Subproject commit 451919af139ffb9a55622886162d70e2de41c1b2
diff --git a/src/sample_applications b/src/sample_applications
index 7ef30876c7cadbfac8d0c4b53f5dee84d53bb33e..43300491c625b5d984d2f09ced8bbb1d269d231d 160000
--- a/src/sample_applications
+++ b/src/sample_applications
@@ -1 +1 @@
-Subproject commit 7ef30876c7cadbfac8d0c4b53f5dee84d53bb33e
+Subproject commit 43300491c625b5d984d2f09ced8bbb1d269d231d
diff --git a/src/zero b/src/zero
new file mode 160000
index 0000000000000000000000000000000000000000..d87f970baa2fa57c42f109cfc6196f08d82a8dc8
--- /dev/null
+++ b/src/zero
@@ -0,0 +1 @@
+Subproject commit d87f970baa2fa57c42f109cfc6196f08d82a8dc8