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docs/program/connectivity.md

@@ -8,12 +8,13 @@ tags:
   ["client", "sdk", "viam-server", "networking", "apis", "robot api", "session"]
 ---
 
-A [client session](/program/apis/sessions/) uses the most efficient route to connect to your robot either through local LAN or WAN or the internet.
+When connecting to a robot using the connection code from the [code sample tab](/program/#hello-world-the-code-sample-tab), a [client session](/program/apis/sessions/) automatically uses the most efficient route to connect to your robot either through local LAN or WAN or the internet.
 
 When a robot loses its connection to the internet but is still connected to a LAN or WAN:
 
-- Client sessions connected through the internet will timeout and end.
 - Client sessions connected through the same LAN or WAN will function normally.
+- Client sessions connected through the internet will timeout and end.
+  If the client is on the same LAN or WAN, the client will automatically disconnect and then reconnect over LAN.
 - [Cloud Sync](/services/data/#cloud-sync) for Data Management will pause until the internet connection is re-established since the robot will be unable to connect to the [Viam app](https://app.viam.com).
 
 When a robot loses its connection to LAN or WAN, all client sessions will timeout and end by default.

docs/program/run.md

@@ -71,38 +71,6 @@ This is useful because as long as that computer is able to establish a network c
 
 ## Run Code On-Robot
 
-{{< alert title="Info" color="info" >}}
-This method of running code locally is only implemented on the Viam Python SDK.
-{{< /alert >}}
-
-In case your robots have intermittent internet connectivity, you can ensure this does not interfere with the code's execution.
-If you need to run [PID control loops](https://en.wikipedia.org/wiki/PID_controller) or other on-robot code, you can run control code on the same board that is running `viam-server`.
-
-In the `connect()` method of your control code, make the following changes:
-
-1. Set `disable_webrtc=True` to disable {{< glossary_tooltip term_id="webrtc" >}}.
-2. Set `auth_entity` to your robot's [configured](/manage/configuration/) `name`.
-3. Replace the remote address in `RobotClient.at_address` with `localhost:8080`
-
-Your SDK code should now look like:
-
-```python {class="line-numbers linkable-line-numbers"}
-async def connect():
-    creds = Credentials(type='robot-location-secret',
-                        payload=YOUR_LOCATION_SECRET)
-    opts = RobotClient.Options(
-        refresh_interval=0,
-        dial_options=DialOptions(
-            credentials=creds,
-            disable_webrtc=True,
-            auth_entity="<YOUR_ROBOT_NAME>"
-        )
-    )
-    return await RobotClient.at_address('localhost:8080', opts)
-```
-
-Your localhost can now make a secure connection to `viam-server` locally.
-SSL will check the server hostname against the `auth_entity` required by {{< glossary_tooltip term_id="grpc" >}} from the `auth_entity` `DialOptions`.
+In case you run [PID control loops](https://en.wikipedia.org/wiki/PID_controller) or your robots have intermittent network connectivity, you can ensure this does not interfere with the code's execution, by running the the control code on the same board that is running `viam-server`.
 
-This ensures that you can send commands to the robot through localhost without internet connectivity.
-Note that all commands will be sent using {{< glossary_tooltip term_id="grpc" >}} only without {{< glossary_tooltip term_id="webrtc" >}}.
+When connecting to a robot using the connection code from the [code sample tab](/program/#hello-world-the-code-sample-tab), a [client session](/program/apis/sessions/) automatically uses the [most efficient route](/program/connectivity/) to connect to your robot, which means the favored route for commands will be over localhost.