+
+ public boolean isShooterRPMAtTargetSpeed() {
+ return isShooterRPMWithinRangeOfTargetSpeed(ACCEPTABLE_SHOOTING_DEVIATION);
+ }
+
+ public boolean isShooterRPMWithinRangeOfTargetSpeed(int acceptableRPMError) {
+ double shooterSpeed = getShooterRPM();
+ if (shooterSpeed > DEFAULT_SHOOTING_SPEED - acceptableRPMError
+ && shooterSpeed < DEFAULT_SHOOTING_SPEED + acceptableRPMError) {
+ return true;
+ }
+ return false;
+ }