Rotating a turret body and head

Questions & Answers
1

The goal is to swivel the body of the turret (and thus the head) towards a target, and also tilt the head up and down to aim at the target.

The body swivels fine. however, the head refuses to swivel properly, it's like it is 90 degrees off. The axis of the head and body are all pointing the same direction initially. Here is my script:

        // Handle base side to side rotation

    Vector3 localTarget = transform.InverseTransformDirection(Target.transform.position - transform.position);
    float targetAngle = Mathf.Atan2(localTarget.x, localTarget.z) * Mathf.Rad2Deg;
    float adjustedAngle = Mathf.Lerp(0, targetAngle, Time.deltaTime * SwivelSpeed);
    transform.Rotate(Vector3.up, adjustedAngle);

    // Handle head up/down swivel
    localTarget = Head.transform.InverseTransformDirection(Target.transform.position - Head.transform.position);
    targetAngle = Mathf.Atan2(localTarget.z, localTarget.y) * Mathf.Rad2Deg;
    adjustedAngle = Mathf.Lerp(0, targetAngle, Time.deltaTime * SwivelSpeed);
    Debug.Log(targetAngle);
    Head.transform.Rotate(Vector3.right, adjustedAngle);

Here is a screenshot with the turret base (and thus the head, and everything attached), showing its orientation. This is when Unity is not running: alt text

Same thing, with just the 'Head' selected. Again, it has the same orientation as the base.

alt text

Here it is, after I run unity and tell it to face the small sphere: alt text

Any suggestions on why this is happening? I wonder if it has anything to do with the head being local to the body, so the target isn't really comparing against the 'real' coordinates?

2 
    var targetAngle = Mathf.Atan2(localTarget.z, localTarget.y) * Mathf.Rad2Deg;
    var targetAngle2 = targetAngle - 90;
    var adjustedAngle = Mathf.Lerp(0, targetAngle2, Time.deltaTime * SwivelSpeed);

here is a snippet of your code in java, not the best solution but it works for me... i am trying for 3 days to make a turret like this... so thank you!