# Working with the common control interface

## Local status inspection

```python
from dobot.dobot_ctrl import DobotCtrl

robot = DobotCtrl(dobot_ip="192.168.1.6", auto_connect=True)
try:
    print(robot.state())
    print(robot.get_current_position())
    print(robot.get_current_angle())
finally:
    robot.disconnect()
```

This example reads status without requesting motion. `auto_connect=True` connects during initialization. Refer to the generated API documentation and implementation for return-value details.

## Motor control versus arm ownership

```python
robot.take_arm()
robot.turn_on_motor()
# Execute operations only after the required safety checks.
robot.turn_off_motor()
robot.give_arm()
```

For MG400, `take_arm()` and `give_arm()` are currently no-ops because equivalent vendor ownership commands have not been established. Motor on/off maps to the MG400 enable/disable functions. This illustrates the interface, **not** a complete safe operating procedure.

## Expose the same interface through FastAPI

```bash
python -m dobot.server_fastapi.server
```

`server_fastapi/server.py` instantiates `FastApiServer(device_cls=DobotCtrl, router_cls=None, api_spec=None, object_name="dobot", ...)`. The `ese774_frame` automatic dispatcher exposes the controller without redefining the device interface in a second router.

```python
from dobot.config import Config
from dobot.server_fastapi.client_sync import SyncDobotClient

client = SyncDobotClient(config=Config())
print(client.state())
print(client.get_current_position())
```

Default server address: `127.0.0.1:8000`; default MG400 address: `192.168.1.6`. `Config.load_yaml()` updates class settings, whereas `Config(yaml_path=...)` updates an instance. Verify how the server reads settings before choosing either mechanism.

For async use, see `dobot.server_fastapi.client_async.AsyncDobotClient`. Asynchronous HTTP execution does not imply waiting for physical motion completion. Review `move()` and `wait_for_complete()` behavior before commanding motion.