public void rotateGunMEA(double enemyX, double enemyY, double firePower, double heading, double velocity) {
		double theta = ShootingUtils.findAngle(enemyX, enemyY, robot.getX(), robot.getY());
		theta = Utils.normalAbsoluteAngleDegrees(theta - robot.getGunHeading());
		theta = Utils.normalRelativeAngleDegrees(theta);
		double omega = ShootingUtils.maximumEscapeAngle(firePower);
		heading = Utils.normalRelativeAngleDegrees(heading);
		int direction = (int) Math.signum(velocity);
		if ((heading < 0 && direction == 1) || (heading >= 0 && direction != 1)) {
			double angle = theta + omega;
			robot.setTurnGunRight(angle);
		}
		else if ((heading >= 0 && direction == 1) || (heading < 0 && direction != 1) ) {
			double angle = theta - omega;
			robot.setTurnGunRight(angle);
		}
	}