Problem

So I am currently working on a mobile gun system, and I need it to look at and engage targets. I know there are many talented FT people here, and I have seen their work - I have tried just about every single line of FT even involving a cannon and aiming, I've gone to multiple links and generators from forum posts here, but I keep having problems with my aiming.

1. I have some code that is working, and it tracks targets correctly, with somewhat correct circle-to-box accuracy. The problem is, the moment I start, the turret rotates 180 degrees to face back. This is strange and I have tried adding a value to the input, setting start heading in the code to 180 or any other value, rotating the turret body 180, rotating the rotator itself, rotating the entire tank, etc. Nothing seems to work.

2. Some other FT that is somewhat working, heading is fine but elevation refuses to work correctly and rotates sporadically or in the wrong direction. Tried just about everything, nothing works.

Things I need help with

So the main thing I need help with is the cannon, I will provide all values needed if someone would be so kind as to help me make this FT.

1. The gun fires at 1330m/s.
2. The elevation rotator's coordinates are X=0, Y=4.3802, Z=0.8283
3. The heading rotator's coordinates are X=0, Y=3.9652, Z=-1.9533
4. The cockpit's coordinates are X=0, Y=3.4771, Z=-2.0471

This is all of the main gun, but there's also a problem with the RCWS. I want it to rotate faster than the main gun, and to be able to track a target while the main gun is still rotating. I know this can be done, but I am not sure how to do it correctly. I have tried just adding code, but since it is attached on top of the main turret, when rotating to the target, it obviously will rotate twice as much. The RCWS is not exactly on the heading pivot of the main turret, so I cannot attach it directly to the hull. I would like to just know a solution to this because I am able to make guns track correctly, but if anyone who could help needs the gun specs and coords I can list them in an edit.

I have been working on this for literally the past week and am stressed out, cannot find any way to make this thing work. Would greatly appreciate, will totally give some upvotes.

Thanks :D