# Local control

Local mode constructs `DobotCtrl` directly, without an HTTP server.

```python
from dobot.dobot_ctrl import DobotCtrl

robot = DobotCtrl(dobot_ip="192.168.1.6", instance_name="Ctrl")
try:
    print(robot.get_current_pose())
    print(robot.get_current_angle())
    print(robot.get_error_code())
finally:
    robot.disconnect()
```

`take_arm()` / `give_arm()` are logical operations used to preserve the common interface; they do not acquire MG400 hardware ownership. `turn_on_motor()` maps to `EnableRobot()` and `turn_off_motor()` to `DisableRobot()`. Perform motor and motion operations only after verifying physical safety.