diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
new file mode 100644
index 0000000..4e95a9b
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
@@ -0,0 +1,53 @@
+package org.firstinspires.ftc.teamcode.utilsv2;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.util.Range;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+
+@Config
+public class Turret {
+    Robot robot;
+
+    private final double servoTicksPer180 = 0.6; // TODO: Tune
+    private final double neutralPosition = 0.3; //TODO: Tune
+    private final double turretMin = 0.04; //TODO: Tune
+    private final double turretMax = 0.94; //TODO: Tune
+
+
+    public Turret (Robot rob){
+        this.robot = rob;
+    }
+
+    public void trackGoal (double dx, double dy, double h) {
+        // dx, dy, dz is target - robot
+        // h is the raw heading where 0 degrees is positive x in the system of x, y
+        while (h > 180) h -= 360;
+        while (h < -180) h += 360;
+
+        double fieldRelativeHeading = Math.toDegrees(Math.atan2(dy,dx)); // Angle assuming the robot is at zero degrees, CCW
+        double desiredAngle = fieldRelativeHeading - h; // Account for robot rotation
+        double angleDelta = desiredAngle - 180; // Subtract 180 as the neutral position is at 180 degrees
+
+        // Shift to -180 --> 180 scale
+        while (angleDelta > 180) angleDelta -= 360;
+        while (angleDelta < -180) angleDelta += 360;
+
+        double servoTicksFromNeutral = (angleDelta / 360.0) * (2 * servoTicksPer180);
+        double servoAngle = neutralPosition + servoTicksFromNeutral;
+        servoAngle = Range.clip(servoAngle, turretMin, turretMax);
+
+        robot.turr1.setPosition(servoAngle);
+        robot.turr2.setPosition(1.0 - servoAngle);
+
+
+
+
+
+
+
+
+
+
+    }
+
+}