serversocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) serversocket.bind(("192.168.42.1", 1337)) serversocket.listen(1) sockets.append(serversocket) while(1): clientsocket,address = serversocket.accept() sockets.append(clientsocket) try: cs = ControlSocket(clientsocket) while(1): cdict = cs.receiveControl() print cdict l_motor.retry_write(cdict["left_motor"]) r_motor.retry_write(cdict["right_motor"]) except Exception as e: print e.message continue clientsocket.close() for s in sockets: s.close()