Server.py

import socket, math, serial, time

HOST = ''
PORT = 100
while True:
    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
    s.bind((HOST, PORT))
    s.listen(1)
    conn, addr = s.accept()
    print ('Connected to ', addr)
    data = ''
    azimuth = ''
    pitch = ''
    roll = ''
    right = 127
    left = 127
    rPWM = 127
    sensitivity = 10

    ser = serial.Serial('/dev/ttyACM0', 9600)

    try:
        while 1:
            if ser.in_waiting > 0:
                print(str(ord(ser.read()))+ "," +  str(ord(ser.read()))+","+ str(ord(ser.read())))
            data = conn.recv(1024)
            data = data.decode('utf-8')
            dataArray = data.split(',')
            #Check if messed up
            if len(dataArray)<5:
                roll = float(dataArray[len(dataArray) - 1])
                pitch = (float( dataArray[len(dataArray) - 2]) - 34)
                rPWM = ((abs(pitch)/180*255-127)*sensitivity)+127
                azimuth = dataArray[len(dataArray) - 3]
                print('rPWM ' + str(rPWM) + '\n')
                #print('pitch ' + pitch)
                count = rPWM
                #print(chr (count))
                #right,left
                if roll>0:
                    right = int(max(0, min(count, 255)))
                    left = int(max(0, min(count - roll, 255)))
                else:
                    right = int(max(0, min(count + roll, 255)))
                    left = int(max(0, min(count, 255)))
                ser.write(chr(right) + chr(44)+ chr(left))
                #print('right ' + str(right) + 'left ' + str(left))
            else:
                    print('Error occurred with data:   ' + str(dataArray) + '\n')
    except(KeyboardInterrupt, SystemExit, Exception):
        ser.write(chr(127) + chr(44)+ chr(127))
        s.shutdown(socket.SHUT_RDWR)
        conn.close()
        s.close()