gistfile1.txt

#code for Reciever
import socket
import atexit 
import time
import pigpio

pi = pigpio.pi() # Connect to local Pi

pi.set_mode(14, pigpio.OUTPUT)
pi.set_servo_pulsewidth(15, 0)

pi.set_mode(15, pigpio.OUTPUT)
pi.set_servo_pulsewidth(18, 1500)

pi.set_mode(17, pigpio.OUTPUT)
pi.set_servo_pulsewidth(17, 1500)

pi.set_mode(18, pigpio.OUTPUT)
pi.set_servo_pulsewidth(18, 1500)

TCP_IP = "173.75.180.60"
TCP_PORT = 50050

BUFFER_SIZE = 50 
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 
s.connect((TCP_IP, TCP_PORT)) 

while 1:
   
   data = s.recv(BUFFER_SIZE)
   data = data.split(',')
   print data

   if len(data) == 7:
	if len(data[5]) == 6 and len(data[6])== 6 and len(data[3])== 6 and len(data[4])== 6:
   		throttle_data = int(data[5][:-2])
        	yaw_data = int(data[6][:-2])
		roll_data = int(data[3][:-2])
		pitch_data = int(data[4][:-2])
	
        	pi.set_servo_pulsewidth(14, throttle_data)
		pi.set_servo_pulsewidth(15, roll_data)
        	pi.set_servo_pulsewidth(17, pitch_data)
		pi.set_servo_pulsewidth(18, yaw_data)  
    
   else:
	print "Data lenghth not correct"

   

def exit_handler():
    	s.shutdown()
	s.close()
	pi.set_servo_pulsewidth(15, 0)
        pi.set_servo_pulsewidth(18, 0)
	pi.stop()
atexit.register(exit_handler)