Issue wth getting a weld/Motor6d to face an object in the world

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#1

I’m having an issue in my game with a “sentry” system. The sentry is supposed to face a target when one is detected. While it works, the results are inconsistent and not what I expected.

I’ve included a video showing the issue for better context.


local currentAngleY = HorizontalDrive.CFrame:ToEulerAnglesYXZ() -- Get the initial Y-axis angle of HorizontalDrive
local currentAngleX = VerticalDrive.CFrame:ToEulerAnglesYXZ() -- Get the initial X-axis angle of VerticalDrive

local function rotateAndFaceTarget(deltaTime)

	if  SAM.Target.Value == nil then
		SAM.Base.Move:Stop()

		return
	end
	if	not SAM.Base.Move.IsPlaying and SAM.Target.Value ~= nil then
		SAM.Base.Move:Play()

	end


	local directionToTarget = ( SAM.Target.Value.Position - HorizontalDrive.Position).unit
	local targetAngleY = math.atan2(directionToTarget.X, directionToTarget.Z) -- Target angle on Y-axis
	local angleDifferenceY = math.atan2(math.sin(targetAngleY - currentAngleY), math.cos(targetAngleY - currentAngleY))
	local rotationStepY = math.clamp(angleDifferenceY, -math.rad(rotationSpeed * deltaTime), math.rad(rotationSpeed * deltaTime))
	
	currentAngleY = currentAngleY + rotationStepY
	HorizontalDrive.CFrame = CFrame.new(HorizontalDrive.Position) * CFrame.Angles(0, currentAngleY, math.rad(90))


	--verticle 

	local targetAngleX = math.atan2(directionToTarget.Y, directionToTarget.Z) 
	local angleDifferenceX = math.atan2(math.sin(targetAngleX - currentAngleX), math.cos(targetAngleX - currentAngleX))
	local rotationStepX = math.clamp(angleDifferenceX, -math.rad(rotationSpeed * deltaTime), math.rad(rotationSpeed * deltaTime))
	
	currentAngleX = currentAngleX + rotationStepX 
	local newC0 = CFrame.new(Pole.VerticleDrive.C0.Position) * CFrame.Angles(0, -currentAngleX + math.rad(90), math.rad(90))
	Pole.VerticleDrive.C0 = newC0
end

game:GetService("RunService").Heartbeat:Connect(rotateAndFaceTarget)
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