How to move tank barrel up and down?

I'm trying to move the tank barrel up and down but it's hard cuz the tank hull also needs to be able to move left and right. I don't know how to have both on the tank. I've tried attaching a wheel to the barrel, it works but it only works when not connected to the tank.

I've tried making it so that the wheel that moves the barrel also moves when the hull moves, can't seem to get it to work though.