diff --git a/turret_debug.ino b/turret_debug.ino
new file mode 100644
index 0000000..528fc7f
--- /dev/null
+++ b/turret_debug.ino
@@ -0,0 +1,100 @@
+#include "config.h"
+#include "turret.h"
+
+Turret turret(
+  PIN_X_DIRECTION, PIN_X_PULSE, PIN_X_ENABLE, PIN_X_HOME,
+  PIN_Y_DIRECTION, PIN_Y_PULSE, PIN_Y_ENABLE, PIN_Y_HOME,
+  PIN_LASER
+);
+
+void setup() {
+  turret.init();
+
+  Serial.begin(BAUDRATE);
+
+  turret.laserOn().calibrate();
+  turret.moveTo(0, 0, 0);
+  delay(5000);
+
+  // test pointage
+  double panelWidth = 124.7;
+  double panelHeight = 145.0;
+  int panelHCount = 3;
+  int panelVCount = 2;
+
+  // double zeroOffsetV = -31.5;
+  double zeroOffsetV = -20.8;
+  // double zeroOffsetH = -184.5;
+  double zeroOffsetH = -195.5;
+
+  // Test constant step h,v
+  Serial.println("Start demo_0");
+  for (int i = 0; i < 20; i++) {
+    Serial.print("> ");
+    Serial.println(i);
+    for (double step = -198.5; step < 176.0; step += 10) {
+      Serial.print("[step]: ");
+      Serial.println(step);
+      turret.moveTo(step, 87, 0);
+      // turret.moveBy(20.0, 0.0, 0.0);
+      delay(500);
+    }
+
+    for (double step = 0; step < 200.0; step += 10) {
+      Serial.print("[step]: ");
+      Serial.println(step);
+      turret.moveTo(0, step, 0);
+      // turret.moveBy(20.0, 0.0, 0.0);
+      delay(500);
+    }
+
+    delay(5000);
+    turret.moveTo(0, 0, 0);
+    delay(5000);
+  }
+
+  // Test rollX
+  turret.moveTo(0 * panelWidth + zeroOffsetH, 0, 0);
+  delay(5000);
+  turret.moveTo((panelHCount * panelWidth) / 2 + zeroOffsetH, 0, 0);
+  delay(5000);
+  turret.moveTo(panelHCount * panelWidth + zeroOffsetH, 0, 0);
+  delay(5000);
+  turret.gotoZero();
+
+  // Test rollY
+  turret.moveTo(0, 0 * panelHeight + zeroOffsetV, 0);
+  delay(5000);
+  turret.moveTo(0, (panelVCount * panelHeight) / 2 + zeroOffsetV, 0);
+  delay(5000);
+  turret.moveTo(0, panelVCount * panelHeight + zeroOffsetV, 0);
+  delay(5000);
+  turret.gotoZero();
+  
+  // Test align to panels
+  for (double panelH = 0; panelH < panelHCount + 1; panelH += 0.5) {
+    for (double panelV = 0; panelV < panelVCount + 1; panelV += 0.5) {
+      double x = panelH * panelWidth + zeroOffsetH;
+      double y = panelV * panelHeight + zeroOffsetV;
+      double z = 0;
+
+      Serial.print("Goto (x, y, z) => (");
+      Serial.print(x);
+      Serial.print(", ");
+      Serial.print(y);
+      Serial.print(", ");
+      Serial.print(z);
+      Serial.println(")");
+
+      turret.moveTo(x, y, z);
+
+      delay(2000);
+    }
+  }
+
+  turret.gotoZero();
+}
+
+void loop() {
+
+}