Movement.FixedUpdate C# (CSharp) Method

    void FixedUpdate()
    {
        if (Time.realtimeSinceStartup - startTime > 4.5f) {
            print ("counting down");
            start = true;
        }

        if (start) {
            //Debug.Log("Delta Time: " + Time.deltaTime);
            Debug.Log("boost: " + boost);
            WheelHit hit;
            float travelL = 1.0f;
            float travelR = 1.0f;
            float AntiRoll = 5000;

            bool groundedL = fl.GetGroundHit(out hit);
            if (groundedL)
                travelL = (-fl.transform.InverseTransformPoint(hit.point).y - fl.radius) / fl.suspensionDistance;

            bool groundedR = fr.GetGroundHit(out hit);
            if (groundedR)
                travelR = (-fr.transform.InverseTransformPoint(hit.point).y - fr.radius) / fr.suspensionDistance;

            var antiRollForce = (travelL - travelR) * AntiRoll;

            if (groundedL)
                rb.AddForceAtPosition(fl.transform.up * -antiRollForce,
                    fl.transform.position);
            if (groundedR)
                rb.AddForceAtPosition(fr.transform.up * antiRollForce,
                    fr.transform.position);

            bool bgroundedL = bl.GetGroundHit(out hit);
            if (bgroundedL)
                travelL = (-bl.transform.InverseTransformPoint(hit.point).y - bl.radius) / bl.suspensionDistance;

            bool bgroundedR = br.GetGroundHit(out hit);
            if (bgroundedR)
                travelR = (-br.transform.InverseTransformPoint(hit.point).y - br.radius) / br.suspensionDistance;

            if (bgroundedL)
                rb.AddForceAtPosition(bl.transform.up * -antiRollForce,
                    bl.transform.position);
            if (bgroundedR)
                rb.AddForceAtPosition(br.transform.up * antiRollForce,
                    br.transform.position);
            if (isAI){
                //PathPlanningKart k = GetComponentInChildren<PathPlanningKart>();
                kartp.PathPlanNextSegment();
                Tuple<float, float> t = carController.speedAndTurn(this.gameObject);
                turnInput = (float)t.Second;
                forwardInput = (float)t.First;
                //Debug.Log("Forward Input:" + forwardInput + " Turn Input:" + turnInput);
                ItemsAI.updateItems();
                kartp.UseItem();
            } else {
                turnInput = input.getTurnInput();
                forwardInput = input.getForwardInput();
                //Debug.Log("Forward Input:" + forwardInput + " Turn Input:" + turnInput);
            }

            brakeInput = input.getBraking();
            if (rb.velocity.magnitude < MAX_SPEED && forwardInput != 0)
            {
                //print("Y" + rb.velocity.magnitude + " X:" + forwardInput + " Z:" + boost);

                br.motorTorque = forwardInput * motorForce * boost;
                bl.motorTorque = forwardInput * motorForce * boost;

            }
            else
            {
                br.motorTorque = 0;
                bl.motorTorque = 0;

            }
            //		} else {
            //			br.brakeTorque = -1*forwardInput * brakeForce;
            //			bl.brakeTorque = -1*forwardInput * brakeForce;
            //			fr.brakeTorque = -1*forwardInput * brakeForce;
            //			fl.brakeTorque = -1*forwardInput * brakeForce;
            //		}
            //		if (brakeInput > 0) {
            //			br.motorTorque = 0;
            //			bl.motorTorque = 0;
            //		}

            fr.steerAngle = turnInput * turnForce;
            fl.steerAngle = turnInput * turnForce;

            br.brakeTorque = brakeInput * brakeForce * boost;
            bl.brakeTorque = brakeInput * brakeForce * boost;
            fr.brakeTorque = brakeInput * brakeForce * boost;
            fl.brakeTorque = brakeInput * brakeForce * boost;

            br.brakeTorque += studder * brakeForce;
            bl.brakeTorque += studder * brakeForce;
            fr.brakeTorque += studder * brakeForce;
            fl.brakeTorque += studder * brakeForce;

            if (writePositionsToFile)
                WriteToRepo();

            Quaternion temp = transform.rotation;
            Vector3 tt = temp.eulerAngles;
            if (tt.x > 300 && tt.x < 357)
                tt.x = 359.5f;
            if (tt.x < 50 && tt.x > .5f)
                tt.x = .5f;

            if (tt.z > 300 && tt.z < 359.5f)
                tt.z = 359.5f;
            if (tt.z < 50 && tt.z > .5f)
                tt.z = .5f;
            tt.Set(tt.x, tt.y, tt.z);
            temp.eulerAngles = tt;
            transform.rotation = temp;
        }
    }