Practice, practice, practice.

Posted by C at 1:19pm Jun 26 '12
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Or, alternatively...a good meat thermometer. Personally, I have just learned when chicken is done, by looking at how the meat has shrank, or pulled away from the bone. Also, just poking it with a bbq fork (two prong) once or twice to see if the juices run clear.

When cooking pork on the grill, a meat thermometer is your friend, 140F. However, I still just guess most of the time unless it's a thicker cut like a roast.

Now for grilling steaks, that's just pure practice, especially for different degrees of doneness. It's easy to get a steak well done, but getting it to different degrees of done (like medium rare) is the tricky part. I think that comes from just pure practice. I don't think there's any way to "teach" someone reliably how to grill a steak to a particular doneness because each piece of steak is different.
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