diff --git a/demo/Client.py b/demo/Client.py
index a5382d3..29bce82 100644
--- a/demo/Client.py
+++ b/demo/Client.py
@@ -1,43 +1,5 @@
+#!/usr/bin/env python3
 # coding:utf-8
-# // An highlighted block
-import traceback
-import socket
-import time
-import sys
-# RPi's IP
-SERVER_IP = "192.168.10.115"  # 输入正确的目标ip地址，请查看树莓派ip
-SERVER_PORT = 9000
-
-print("Starting socket: TCP...")
-
-print("Please input!")
-sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-sock.connect((SERVER_IP, SERVER_PORT))  # 打开链接
-444
-sock.sendall(str.encode("12312"))
-received = sock.recv(1024)
-print("read: " + received.decode())
-while True:
-    try:
-        #
-        # if len(data)>0:
-        command = input()
-        command += '\n'
-        print("send: " + command)
-        try:
-            sock.sendall(str.encode(command))
-            received = sock.recv(1024)
-            print("read: " + received.decode())
-        except ConnectionRefusedError:
-            print('error')
-            sock.close()
-            pass
-        except BlockingIOError:
-            pass
-        except:
-            pass
-
-    except Exception:
-        # print("exception")
-        print(traceback.format_exc())
-        sys.exit(1)
+from pymycobot.mycobotsocket import MyCobotSocket
+m = MyCobotSocket("192.168.10.115", "/dev/ttyAMA0", "1000000")
+print(m.send_command("get_coords"))
diff --git a/demo/REMADE.md b/demo/SOCT_REMADE.md
similarity index 78%
rename from demo/REMADE.md
rename to demo/SOCT_REMADE.md
index c1897b1..e8e22cf 100644
--- a/demo/REMADE.md
+++ b/demo/SOCT_REMADE.md
@@ -1,7 +1,7 @@
 # 使用说明
 ## 使用说明
-* "Client.py"是客户端的样例，使用在电脑中
-* "Servo.py"是服务器端的执行文件，使用前要修改对应的ip地址信息，防止设备无法连接
+* "Client.py"是客户端的样例，使用在你的电脑中运行
+* "Servo.py"是服务器端的执行文件，在机械臂中运行
 ## 参考内容
 * [Socket 使用解析](https://blog.csdn.net/pashanhu6402/article/details/96428887?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522162392592016780357215629%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=162392592016780357215629&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~top_positive~default-1-96428887.first_rank_v2_pc_rank_v29&utm_term=socket&spm=1018.2226.3001.4187)
 
diff --git a/demo/Server.py b/demo/Server.py
index 3900991..d8a179f 100644
--- a/demo/Server.py
+++ b/demo/Server.py
@@ -1,87 +1,307 @@
-import time
-import socketserver
-from pymycobot.mycobot import MyCobot
-import numpy as np
+#!/usr/bin/env python3
+# coding:utf-8
+import re
+import socket
+from pymycobot import MyCobot
 
 
-class TCPMessageHandler(socketserver.StreamRequestHandler):
+def re_data_1(command):
+    # (all_data)
+    r1 = re.compile(r'[(](.*?)[)]')
+    all_data = re.findall(r1, command)[0]
+    return all_data
 
-    def handle(self):
-        """
-        Process socket data
+def re_data_2(command):
+    r2 = re.compile(r'[[](.*?)[]]')
+    data_list = re.findall(r2, command)[0]
+    return data_list
+    
+def get_data(command):
+    # get speed
+    # get () content
+    all_data = re_data_1(command) # "[0,0,0,0,0,0],60"
+    # get laet ,
+    spe = re.search(r'\s*([^,]*)$',all_data)
+    speed = int(spe.group(1))
 
-        """
-        # process received data.
+    # get angles or coords
+    # get [] content
+    angles = [float(i) for i in re_data_2(all_data).split(",")]
+    return angles,speed
+
+def main(HOST,PORT):
+    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    s.bind((HOST,PORT))
+    print("Binding succeeded!")
+    s.listen(1)
+    try:
         while True:
-            try:
-                # data=bytes.decode(self.rfile.readline().strip())
-                data = bytes.decode(self.request.recv(1024))
-                print(data)
-            except Exception as ex:
-                print(ex)
-                return
-
-            data = data.split(',')
-            commend = []
-
-            for dt in data:
+            conn, addr = s.accept()
+            port_baud = []
+            command = ""
+            while True:
                 try:
-                    if dt.isdigit():
-                        commend.append(int(dt))
-                    else:
-                        commend.append(float(dt))
-                except ValueError:
-                    commend.append(None)
+                    data = conn.recv(1024)
+                    command = data.decode('utf-8')
+                    if data.decode('utf-8') == "" or data.decode('utf-8') == "end":
+                        break
+                    res = None
+                    command = command.replace(" ","")
+                    if len(port_baud)<2:
+                        port_baud.append(command)
+                    if len(port_baud)==2:
+                        mc = MyCobot(port_baud[0],port_baud[1])
+                        port_baud.append(1)
+                    if "get_angles" in command:
+                        res = mc.get_angles()
+                        
+                    elif command == "power_on":
+                        mc.power_on()
 
-            if len(commend) > 0:
-                print("Received:%s" % commend)
-                self.request.sendall(str.encode(str(commend)))
+                    elif command == "power_off":
+                        mc.power_off()
 
+                    elif command == "is_power_on":
+                        res = mc.is_power_on()
+                    elif command == "release_all_servos":
+                        mc.release_all_servos()
+                    elif command == "is_controller_connected":
+                        res = mc.is_controller_connected()
 
-class SocketServer(object):
-    def __init__(self, host, port):
-        super().__init__()
-        self.host = host
-        self.port = port
+                    elif "sync_send_angles" in command:
+                        all_data = re_data_1(command)
+                        angles = [float(i) for i in re_data_2(command).split(",")]
+                        datas = all_data.split(',')
+                        # get laet ,
+                        if len(datas) == 7:
+                            speed = int(datas[-1])
+                        
+                            timeout = 7
+                        else:
+                            speed = int(datas[-2])
+                            timeout = int(datas[-1])
+                        mc.sync_send_angles(angles,speed,timeout)
+                        
+                        while True:
+                            if mc.is_in_position(angles,0):
+                                break
 
-    def start_server(self):
-        while True:
-            try:
-                server = socketserver.TCPServer((self.host, self.port),
-                                                TCPMessageHandler)
-                break
-            except:
-                time.sleep(1)
-                continue
-        try:
-            print("server open seccess")
-            server.serve_forever()
-
-        finally:
-            print("server close")
-            server.server_close()
-
-
-class Robot(object):
-    def __init__(self, serial, baud):
-        super().__init__()
-        self.serial = serial
-        self.baud = baud
-
-    def start_Robot(self):
-        try:
-            mc = MyCobot(self.serial, self.baud)  # 树莓派版本打开机械臂，串口固定，无需USB连接
-            print(mc)  # 打印机械臂端口信息
-        except:
-            print("can not find cobot")
-            exit(0)
+                    elif "sync_send_coords" in command:
+                        all_data = re_data_1(command)
+                        coords = [float(i) for i in re_data_2(command).split(",")]
+                        datas = all_data.split(',')
+                        if len(datas) == 8:
+                            speed = int(datas[-2])
+                            mode = int(datas[-1])
+                            timeout = 7
+                        else:
+                            speed = int(data[-3])
+                            mode = int(datas[-2])
+                            timeout = int(datas[-1])
+                        mc.sync_send_coords(coords,speed,mode,timeout)
+                        while True:
+                            if mc.is_in_position(coords,1):
+                                break
+
+                    elif "send_angles" in command:
+                        angles, speed = get_data(command)
+                        mc.send_angles(angles,speed)
+                    elif "send_angle" in command:
+                        all_data = re_data_1(command).split(',') # ['1','60','40']
+                        mc.send_angle(int(all_data[0]),float(all_data[1]),int(all_data[2]))
+                    elif command == "get_coords":
+                        res = mc.get_coords()
+
+                    elif "send_coords" in command:
+                        all_data = re_data_1(command)
+                        coords = [float(i) for i in re_data_2(command).split(",")]
+                        speed = int(all_data.split(',')[-2])
+                        model = re.search(r'\S([^,]*)$',all_data)
+                        model = int(model.group(1))
+                        mc.send_coords(coords,speed,model)
+
+                    elif "is_in_position" in command:
+                        data_list, id = get_data(command)
+                        res = mc.is_in_position(data_list,id)
+                        
+                    elif "is_moving" in command:
+                        res = mc.is_moving()
+                        
+
+                    elif "jog_angle" in command:
+                        all_data = re_data_1(command).split(',') # ['1','1','70']
+                        mc.jog_angle(int(all_data[0]),int(all_data[1]),int(all_data[2]))
+
+                    elif "jog_coord" in command:
+                        all_data = re_data_1(command).split(',') # ['x','1','70']
+                        mc.jog_angle(int(all_data[0]),int(all_data[1]),int(all_data[2]))
+                    
+                    elif "stop" in command:
+                        mc.stop()
+
+                    elif "jog_stop" in command:
+                        mc.jog_stop()
+
+                    elif "set_encoders" in command:
+                        encoders,speed = get_data(command)
+                        mc.set_encoders(encoders,speed)
+
+                    elif "set_encoder" in command:
+                        
+                        all_data = re_data_1(command).split(',') # ['1','2046']
+                        mc.set_encoder(int(all_data[0]),int(all_data[1]))
+                    
+                    elif "get_encoders" in command:
+                        res = mc.get_encoders()
+                        
+
+                    elif "get_encoder" in command:
+                        
+                        all_data = re_data_1(command) # '1'
+                        res = mc.get_encoder(int(all_data))
+                        
+
+                    elif "is_paused" in command:
+                        res = mc.is_paused()
+                        
+
+                    elif "paues" in command:
+                        mc.pause()
+
+                    elif "resume" in command:
+                        mc.resume()
+
+                    elif "get_speed" in command:
+                        res = mc.get_speed()
+                        
+
+                    elif "set_speed" in command:
+                        
+                        all_data = re_data_1(command) # '100'
+                        mc.set_speed(int(all_data))
+
+                    elif "get_joint_min_angle" in command:
+                        
+                        all_data = re_data_1(command) # '1'
+                        res = mc.get_joint_min_angle(int(all_data))
+                        
+
+                    elif "get_joint_max_angle" in command:
+                        
+                        all_data = re_data_1(command) # '1'
+                        res = mc.get_joint_max_angle(int(all_data))
+                        
+
+                    elif "is_servo_enable" in command:
+                        
+                        all_data = re_data_1(command) # '1'
+                        res = mc.is_servo_enable(int(all_data))
+                        
+
+                    elif "is_all_servo_enable" in command:
+                        res = mc.is_all_servo_enable()
+                        
+
+                    elif "set_servo_data" in command:
+                        
+                        all_data = re_data_1(command).slipt(',') # '1,20,2046'
+                        mc.set_servo_data(int(all_data[0]),int(all_data[1]),int(all_data[2]))
+
+                    elif "get_servo_data" in command:
+                        
+                        all_data = re_data_1(command).slipt(',') # '1,20'
+                        res = mc.get_servo_data(int(all_data[0]),int(all_data[1]))
+                        
+
+                    elif "set_servo_calibration" in command:
+
+                        all_data = re_data_1(command) # '1'
+                        mc.set_servo_calibration(int(all_data))
+
+                    elif "release_servo" in command:
+
+                        all_data = re_data_1(command) # '1'
+                        
+                        mc.release_servo(int(all_data))
+
+                    elif "focus_servo" in command:
+
+                        all_data = re_data_1(command) # '1'
+                        mc.focus_servo(int(all_data))
+
+                    elif "set_color" in command:
+
+                        all_data = re_data_1(command).slipt(',') # ['0','0','0']
+                        mc.set_color(int(all_data[0]),int(all_data[1]),int(all_data[2]))
+
+                    elif "set_pin_mode" in command:
+
+                        all_data = re_data_1(command).slipt(',') # ['20','0']
+                        mc.set_pin_mode(int(all_data[0]),int(all_data[1]))
+
+                    elif "set_digital_output" in command:
+
+                        all_data = re_data_1(command).slipt(',') # ['20','0']
+                        mc.set_digital_output(int(all_data[0]),int(all_data[1]))
+
+                    elif "get_digital_input" in command:
+
+                        all_data = re_data_1(command) # '3'
+                        mc.get_digital_input(int(all_data))
+
+                    elif "set_pwm_output" in command:
+
+                        all_data = re_data_1(command).slipt(',') # ['20','0','100']
+                        mc.set_pwm_output(int(all_data[0]),int(all_data[1]),int(all_data[2]))
+
+                    elif "get_gripper_value" in command:
+                        res = mc.get_gripper_value()
+                        
+
+                    elif "set_gripper_state" in command:
+
+                        all_data = re_data_1(command).slipt(',') # ['0','100']
+                        mc.set_gripper_state(int(all_data[0]),int(all_data[1]))
+
+                    elif "set_gripper_value" in command:
+
+                        all_data = re_data_1(command).slipt(',') # ['0','100']
+                        mc.set_gripper_value(int(all_data[0]),int(all_data[1]))
+
+                    elif "set_gripper_ini" in command:
+                        mc.set_gripper_ini()
+
+                    elif "is_gripper_moving" in command:
+                        res = mc.is_gripper_moving()
+                        
+
+                    elif "get_basic_input" in command:
+
+                        all_data = re_data_1(command) # 2
+                        res = mc.get_basic_input(int(all_data))
+                        
+
+                    elif "set_basic_output" in command:
+
+                        all_data = re_data_1(command).slipt(',') # ['20','1']
+                        mc.set_basic_output(int(all_data[0]),int(all_data[1]))
+
+                    elif "gpio_init" in command:
+                        mc.gpio_init()
+
+                    elif "gpio_output" in command:
+                        all_data = re_data_1(command).slipt(',') # ['20','1']
+                        mc.gpio_output(int(all_data[0]),int(all_data[1]))
+                    
+                    conn.sendall(str.encode(str(res)))
+                except Exception as e:
+                    conn.sendall(str.encode("ERROR:"+str(e)))
+                    break          
 
+    except:
+        conn.close()
 
 if __name__ == "__main__":
-    host = '192.168.10.191'  # 输入本机IP地址
-    port = 9000
-    serial = ''
-    baud = 1000000
-    server = SocketServer(host, port)  # 声明服务器端口
-    mycobot = Robot(serial, baud)  # 声明机械臂接口
-    server.start_server()  # 永久打开服务器
+    HOST = socket.gethostbyname(socket.gethostname())
+    PORT = 9000
+    main(HOST,PORT)
diff --git a/docs/README.md b/docs/README.md
index 0bad36d..e98e541 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -76,6 +76,9 @@ We support Python2, Python3.5 or later.
 - [utils (Module)](#utils-module)
   - [get_port_list](#get_port_list)
   - [detect_port_of_basic](#detect_port_of_basic)
+  - [MyCobotSocket](#mycobotsocket)
+    - [Client](#client)
+    - [Server](#server)
 
 <!-- vim-markdown-toc -->
 </details>
@@ -734,10 +737,39 @@ from pymycobot import utils
 
   port = utils.detect_port_of_basic()
   if port is None:
-  	raise Exception('Detection failed.')
+   raise Exception('Detection failed.')
   mycobot = MyCobot(port, 115200)
   ```
 
+## MyCobotSocket
+
+> Note:
+> Only supports python3
+> The robotic arm that uses this class of premise has a server and has been turned on.
+
+Use TCP/IP to control the robotic arm
+
+### Client
+
+```python
+# demo
+from pymycobot import MyCobotSocket
+# Port 9000 is used by default
+mc = MyCobotSocket("192.168.10.115","/dev/ttyAMA0","1000000")
+
+mc.send_command("power_on")
+
+res = mc.send_command("get_angles")
+print(res)
+mc.send_command("send_angles([0,0,0,0,0,0],30)")
+...
+
+```
+
+### Server
+
+Server file is in the demo folder
+
 ---
 
 More demo can go to [here](../demo).
diff --git a/pymycobot/__init__.py b/pymycobot/__init__.py
index 78a6e4b..322ec66 100644
--- a/pymycobot/__init__.py
+++ b/pymycobot/__init__.py
@@ -6,6 +6,7 @@
 from pymycobot.generate import MyCobotCommandGenerator
 from pymycobot.mycobot import MyCobot
 from pymycobot.mypalletizer import MyPalletizer
+from pymycobot.mycobotsocket import MyCobotSocket
 from pymycobot.genre import Angle, Coord
 from pymycobot import utils
 
@@ -16,9 +17,10 @@
     "Coord",
     "utils",
     "MyPalletizer",
+    "MyCobotSocket"
 ]
 
-__version__ = "2.6.1"
+__version__ = "2.6.2"
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"
diff --git a/pymycobot/mycobotsocket.py b/pymycobot/mycobotsocket.py
index bd65df8..f1224ee 100644
--- a/pymycobot/mycobotsocket.py
+++ b/pymycobot/mycobotsocket.py
@@ -3,22 +3,21 @@
 from __future__ import division
 import socket
 import time
-import sys
-# import threading
 
 
 class MyCobotSocket:
     """MyCobot Python API Socket communication class."""
 
-    def __init__(self, ip, port, baudrate="115200", timeout=0.1, debug=False):
+    def __init__(self, ip, port, baudrate="1000000"):
         """
         Args:
+            ip       : ip address
             port     : port string
-            baudrate : baud rate string, default '115200'
-            timeout  : default 0.1
-            debug    : whether show debug info
+            baudrate : baud rate string, default '1000000'
         """
-        self.SERVER_IP = ip  # 输入正确的目标ip地址，请查看树莓派ip
+        # 输入正确的目标ip地址，请查看树莓派ip
+        self.SERVER_IP = ip
+        # 端口号
         self.SERVER_PORT = 9000
         self.sock = self.connect()
         self.send_command(port)
@@ -31,9 +30,12 @@ def connect(self):
 
     def send_command(self, command):
         # 发送数据
-        self.sock.sendall((command+"~").encode())
+        self.sock.sendall(command.encode())
         # 接收数据
         data = self.sock.recv(1024)
-        if data.decode() == "None":
+        res = data.decode()
+        if res == "None":
             return ""
-        return data.decode()
+        elif 'ERROR' in res:
+            raise Exception(command+"\n"+res)
+        return res
diff --git a/tests/test_socket.py b/tests/test_socket.py
index fdf118c..3c7c208 100644
--- a/tests/test_socket.py
+++ b/tests/test_socket.py
@@ -22,7 +22,3 @@
 # m.send_command(
 #     "sync_send_coords([53,53,412,-90.7,-1.5,12.67],30,1)")
 # print(m.send_command("is_in_position([53,53,412,-90.7,-1.5,12.67],1)"))
-
-# m.send_command("jog_angle(1,1,20)")
-# time.sleep(2)
-# m.send_command("jog_stop")