# Basic Control

## Prerequisites

- The COBOTTA server is running.

## Basic control through the COBOTTA server

When troubleshooting, first call `get_current_position()` to verify communication. This operation does not require `take_arm` or `motor_on`.

```python
import asyncio
from cobotta2 import Config
from cobotta2.server import AsyncCobottaClient
from x_logger import XLogger

async def main():
    Config.load_yaml("config_cobotta1.yaml")
    logger = XLogger(log_level="info", logger_name=Config.CLIENT_LOGGER_NAME)
    client = AsyncCobottaClient(config=Config, logger=logger)
    result = await client.get_current_position()
    print(result)

if __name__ == "__main__":
    asyncio.run(main())
```

## Loading YAML configuration

There are two ways to use configuration. If a program uses only one device server and therefore one configuration, `Config` can be used directly without creating an instance.

```python
Config.load_yaml("config_cobotta1.yaml")
client = AsyncCobottaClient(config=Config, logger=logger)
```

If a program uses multiple configurations, for example for an electronic balance and COBOTTA, create separate instances.

```python
config_cobotta = Config("config_cobotta1.yaml")
config_aandd = Config("config_aandd_reader.yaml")
cobotta = AsyncCobottaClient(config=config_cobotta, logger=logger)
aandd = AsyncCobottaClient(config=config_aandd, logger=logger)
```

## Configuration for starting the control server

- See `server_fastapi` for the FastAPI-based server.

---
## Author
- Kengo NAKADA