RobotController.SetMotors C# (CSharp) Method

    public void SetMotors(float left, float right)
    {
        foreach(var h in leftWheels)
        {
            h.RunJoint(motorScaler * left);
        }
        foreach(var h in rightWheels)
        {
            h.RunJoint(motorScaler * right);
        }
    }

    // Update is called once per frame
    void Update()
    {
        float leftPower, rightPower, centerPower;

        if (tankDrive)
        {
            leftPower   = Input.GetAxis("P" + playerNumber + " Left");
            rightPower  = Input.GetAxis("P" + playerNumber + " Right");
            centerPower = Input.GetAxis("P" + playerNumber + " Center");
        }
        else
        {
            float drive = Input.GetAxis("P" + playerNumber + " Vertical");
            float steer = Input.GetAxis("P" + playerNumber + " Horizontal");
            leftPower   = Mathf.Clamp(drive + steer, -1, 1);
            rightPower  = Mathf.Clamp(drive - steer, -1, 1);
            centerPower = Input.GetAxis("P" + playerNumber + " Center");
        }

        robot.SetMotors(leftPower, rightPower, centerPower);

        float auxiliary = Input.GetAxis("P" + playerNumber + " auxiliary");

        robot.SetAuxiliaryMotor(auxiliary);

        float auxiliary2 = Input.GetAxis("P" + playerNumber + " auxiliary2");

        robot.SetAuxiliary2Motor(auxiliary2);

        float intake = Input.GetAxis("P" + playerNumber + " intake");

        robot.SetIntake(intake);

        float gripper = Input.GetAxis("P" + playerNumber + " Gripper");

        if (gripper > 0)
        {
            robot.SetIntakeArm(true);
        }
        else if (gripper < 0)
        {
            robot.SetIntakeArm(false);
        }

        //if (Input.GetButton("P" + playerNumber + " Actuate"))
        //	robot.Actuate();

        //TODO: robot.ShootPower = Mathf.Clamp01(robot.ShootPower + Input.GetAxis ("P" + playerNumber + " Shoot Power") * powerChangeSpeed * Time.deltaTime);

        bool launchButton = Input.GetButton("P" + playerNumber + " Launch");

        if (launchButton && launchIsPressed == false)
        {
            robot.Launch();
        }
        launchIsPressed = launchButton;

        //if (Input.GetButton("P" + playerNumber + " Launch2"))
        //    robot.Launch2();
    }