You only ever want to work with crushed grains, whether steeping or mashing.
Mashing is a controlled steep, with temperatures controlled more closely, and including grains with diastatic power (enzymes which convert starch to sugar). Steeping is for grains such as crystal in which the sugars are already converted. But in either case, they need to be crushed.
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"Anything worth doing, is worth doing slowly." ~~ Mae West
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