A turret is configured to be rotationally coupled to a vehicle which includes a first apparatus that is immovably coupled to the vehicle. The turret comprises a second apparatus coupled to the turret. The second apparatus is configured to be rotationally coupled to the first apparatus. The turret further comprises a turret controller which uses feedback control to control rotation of the turret relative to the vehicle. The turret further comprises a position sensor coupled to the second apparatus. The position sensor being configured to provide information related to the position of the turret to the turret controller. The turret is configured to engage the first apparatus to rotate the turret relative to the vehicle.