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If your playing Programmer and can't manually control them, then you will probobly need to use multiple thermal sensors & set up very small thermal zones around you drones with multiple heaters/coolers. The thermal sensor only reports the tempature of itself so if you try to use it with a large area heater you will have the same problem of it not activating if only 1 part is cold or staying active too long & melting something.
As for destroying the Dens... I find 2 things make it alot easier. First destroy any nearby Frost Bombs (crystal looking things that generate a freeze aura around them) as that will give you better manuvering room. Then i usually just snipe at the dens with a longer ranged weapon. If you have to fight the toroise first, then i would build your drone with the expectation that something on the outer edge will get frozen... and ensure its not a thruster or component you absolutly need :P