While you are looking at the Hexapod and Rotator code, please see how difficult it would be to use a single socket for communications, instead of a pair of sockets, one of which is only read from and the other only written to.

This makes the PXI and CSC code simpler and more robust because we don't have to deal the problem of having just one socket connected.

Also, if it's not too much work, it would be a significant improvement to have the server end on the PXI and the client end running on the CSC and EUI. That way the host addresses are configured in the higher-level code (CSC and EUI), where they are easier to maintain.