That's currently doing the exact same thing as the other, i still need to add offsets , does it make it easier to add them with euLerAngles?, i just can't figure out where to put it in there.
eulerAngles is best for setting direct rotations values (It works the same as setting an objects rotation in editer). Other things you could try would be transform.Rotate(x,y,z) for continues rotation or transform.LookAt(targetposition) to point the object towards a location.
