private FixedSizedQueue<string> logText;
    private string tempText;
    private IMyTextPanel display1;
    private IMyTextPanel display2;
    private IMyPowerProducer s1;
    private IMyPowerProducer s2;
    private IMyPowerProducer s3;
    private IMyPowerProducer s4;

    public Program()
    {
        Runtime.UpdateFrequency = UpdateFrequency.Update10;
        s1 = GridTerminalSystem.GetBlockWithName("s1") as IMyPowerProducer;
        s2 = GridTerminalSystem.GetBlockWithName("s2") as IMyPowerProducer;
        s3 = GridTerminalSystem.GetBlockWithName("s3") as IMyPowerProducer;
        s4 = GridTerminalSystem.GetBlockWithName("s4") as IMyPowerProducer;
        display1 = GridTerminalSystem.GetBlockWithName("display1") as IMyTextPanel;
        display2 = GridTerminalSystem.GetBlockWithName("display2") as IMyTextPanel;
        logText = new FixedSizedQueue<string>(15);
    }

    void Main()
        {
            tempText = "";

            float[] p1 = {s1.CurrentOutput,s2.CurrentOutput,s3.CurrentOutput,s4.CurrentOutput};

            float arrsum = p1.Sum();

            string powerOutput = "S1: " + s1.CurrentOutput.ToString() + "\n" +
                                 "S2: " + s2.CurrentOutput.ToString() + "\n" +
                                 "S3: " + s3.CurrentOutput.ToString() + "\n" +
                                 "S4: " + s4.CurrentOutput.ToString() + "\n" +
                                 "Sum: " + arrsum.ToString();
            logTemp(powerOutput);

            //float pitch = 0;
            //float yaw = 0;
            bool rotate = false;

            IMyGyro g1 = GridTerminalSystem.GetBlockWithName("g1") as IMyGyro;
            g1.Yaw = 0;
            g1.Pitch = 0;
            g1.Roll = 0;

            if (p1.Sum()==0.00)
            {
                g1.Pitch = .1f;
                rotate = true;
            }

            float roll = p1[0] - p1[2]; // 2 > 0, -Roll
            float yaw = p1[3] - p1[1]; // 1 > 3, -Yaw
            if (Math.Abs(roll) > .01 || Math.Abs(yaw)>.01)
            {
                g1.Yaw = yaw;
                g1.Roll = roll;
                logPerm("Adjusting: Roll:" + roll.ToString() + " Yaw:" +yaw.ToString());
                rotate = true;
            }
            g1.GyroOverride = rotate;

            writeDisplayText();
        }

        void writeDisplayText()
        {
            display1.WriteText(tempText);
            string logString = "";
            foreach(string line in logText.toArray())
            {
                logString += line + "\n";
            }

            display2.WriteText(logString);
        }

        void logPerm(string input)
        {
            logText.insert(input);
        }

        void logTemp(string input)
        {
            tempText += input + "\n";
        }

        public void Save()
        {
        }

        public class FixedSizedQueue<T>
        {
            readonly Queue<T> queue = new Queue<T>();

            public int Size { get; private set; }

            public FixedSizedQueue(int size)
            {
                Size = size;
            }

            public T[] toArray()
            {
                return queue.ToArray();
            }

            public void insert(T obj)
            {
                queue.Enqueue(obj);

                while (queue.Count > Size)
                {
                    T outObj;
                    queue.TryDequeue(out outObj);
                }
            }
        }