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
index 4e95a9b..3c3741c 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Turret.java
@@ -2,6 +2,7 @@ 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
@@ -13,41 +14,49 @@ public class Turret {
     private final double turretMin = 0.04; //TODO: Tune
     private final double turretMax = 0.94; //TODO: Tune
 
+    private final double hVelK = 0.12; // TODO: Tune
+    private final double hAccK = 0.02; // TODO: Tune
 
-    public Turret (Robot rob){
+    private final double xVelK = 0.10; // TODO: Tune
+    private final double xAccK = 0.02; // TODO: Tune
+
+    private final double yVelK = 0.10; // TODO: Tune
+    private final double yAccK = 0.02; // TODO: Tune
+
+
+    public Turret(Robot rob) {
         this.robot = rob;
     }
 
-    public void trackGoal (double dx, double dy, double h) {
+    private double wrapAngle(double angle) {
+        while (angle > Math.PI) angle -= 2.0 * Math.PI;
+        while (angle < -Math.PI) angle += 2.0 * Math.PI;
+        return angle;
+    }
+
+    public void trackGoal(double dx, double dy, double h, double hVel, double hAcc, double xVel, double xAcc, double yVel, double yAcc) {
         // 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
+        double predictedDx = dx - (xVel * xVelK) - (0.5 * xAcc * xAccK); // Negative bc dx = target - robot
+        double predictedDy = dy - (yVel * yVelK) - (0.5 * yAcc * yAccK);  // Negative bc dy = target - robot
+        double predictedH = h + (hVel * hVelK) + (0.5 * hAcc * hAccK); // Positive bc h = robot heading
 
-        // Shift to -180 --> 180 scale
-        while (angleDelta > 180) angleDelta -= 360;
-        while (angleDelta < -180) angleDelta += 360;
+        predictedH = wrapAngle(predictedH);
+
+        double fieldRelativeHeading = Math.atan2(predictedDy, predictedDx);
+
+        double desiredAngle = fieldRelativeHeading - predictedH;
+        double angleDelta = desiredAngle - Math.PI;
+        angleDelta = wrapAngle(angleDelta);
+
+        double servoTicksFromNeutral = (angleDelta / (2.0 * Math.PI)) * (2.0 * servoTicksPer180);
 
-        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);
-
-
-
-
-
-
-
-
-
-
     }
-
-}
+}
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