RobotController.SetGripper C# (CSharp) Method

    public void SetGripper(bool state)
    {
        if (state)
            gripper.MoveOut();
        else
            gripper.MoveIn();
    }

    void Update()
    {
        if (DateTime.Now - lastFeedback > TimeSpan.FromMilliseconds(20))
        {
            lastFeedback = DateTime.Now;
            int[] values    = new int[64];
            long  timestamp = (long)(DateTime.UtcNow - UnixEpoch).TotalMilliseconds;
            values[TIMESTAMP]     = (int)timestamp;
            values[LEFT_ENCODER]  = robot.LeftEncoder;
            values[RIGHT_ENCODER] = robot.RightEncoder;
            values[HEADING]       = (int)robot.Gyro;
            values[INTAKE_STATE]  = robot.GripperState ? 1 : -1;
            values[BALL_PRESENCE] = robot.BallPresence ? 1 : 0;
            values[ROBOT_MODE]    = Time.timeSinceLevelLoad < 15? Auton : Teleop;
            for (var j = 0; j < 2; ++j)
            {
                for (var a = 0; a < AxisPerJoystick; ++a)
                {
                    values[j * AxisPerJoystick + a + JoystickStart] = (int)(Input.GetAxis("j" + j + "a" + a) * 100);
                }
                for (var b = 0; b < ButtonsPerJoystick; b++)
                {
                    values[j * ButtonsPerJoystick + b + JoystickButtonStart] = (int)(Input.GetKey("joystick " + (j + 1) + " button " + b) ? 1 : 0);
                }
            }


            byte[] sendBytes = new byte[values.Length * sizeof(int)];
            Buffer.BlockCopy(values, 0, sendBytes, 0, sendBytes.Length);
            udpClient.Send(sendBytes, sendBytes.Length);
        }

        if (udpClient.Available > 0)
        {
            IPEndPoint e            = new IPEndPoint(IPAddress.Any, commandsPort);
            Byte[]     receiveBytes = udpClient.Receive(ref e);
            if (receiveBytes.Length % sizeof(int) == 0)
            {
                int[] commands = new int[receiveBytes.Length / sizeof(int)];
                Buffer.BlockCopy(receiveBytes, 0, commands, 0, receiveBytes.Length);

                if (commands.Length >= 14)
                {
                    /*if (commands[RESET_SIM] > 0) {
                     * SceneManager.LoadScene(SceneManager.GetActiveScene().buildIndex);
                     * Debug.Log("Reset");
                     * commands[RESET_SIM] = 0;
                     * }*/

                    teleop.enabled = false;
                    robot.SetMotors(commands[LEFT_MOTOR] / 512.0f, commands[RIGHT_MOTOR] / 512.0f, commands[CENTER_MOTOR] / 512.0f);
                    robot.SetGripper(commands[INTAKE] >= 0);
                    if (commands[LAUNCH] >= 256)
                    {
                        robot.Launch();
                    }
                }
            }

            lastCommand = DateTime.Now;
        }
        else if (DateTime.Now - lastCommand > TimeSpan.FromSeconds(1))
        {
            teleop.enabled = true;
        }
    }