1. Fix the issue of Mercury API: drag_teach_clean not being able to b…

…e used

2. Unified naming convention for Mercury drag teaching API
3. Clean up excess files

docs/Mercury_API.md

@@ -470,16 +470,16 @@ print(mc.get_angles())
 
 ### 11. Drag Teaching
 
-#### `drag_tech_save()`
+#### `drag_teach_save()`
 
 - **function:** Start recording and dragging teaching points.
   - Note: In order to display the best sports effect, the recording time should not exceed 90 seconds
 
-#### `drag_tech_pause()`
+#### `drag_teach_pause()`
 
 - **function:** Pause sampling
 
-#### `drag_tech_execute()`
+#### `drag_teach_execute()`
 
 - **function:** Start dragging the teach-in point, executing it only once.
 

pymycobot/__init__.py

@@ -61,7 +61,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.4.6b1"
+__version__ = "3.4.6"
 __author__ = "Elephantrobotics"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/common.py

@@ -311,7 +311,7 @@ def _mesg(self, genre, *args, **kwargs):
 
         elif genre in [76, 77]:
             command_data = [command_data[0]] + self._encode_int16(command_data[1]*10)
-        elif genre == 115 and self.__class__.__name__ not in  ["MyArmC", "MyArmM"]:
+        elif genre == 115 and self.__class__.__name__ not in  ["MyArmC", "MyArmM", "Mercury"]:
             command_data = [command_data[1],command_data[3]]
         LEN = len(command_data) + 2
 

pymycobot/mercury_api.py

@@ -191,15 +191,15 @@ def jog_base_coord(self, axis, direction, speed):
         """
         return self._mesg(ProtocolCode.MERCURY_JOG_BASE_COORD, axis, direction, speed)
 
-    def drag_tech_save(self):
+    def drag_teach_save(self):
         """Start recording the dragging teaching point. In order to show the best sports effect, the recording time should not exceed 90 seconds."""
         return self._mesg(ProtocolCode.MERCURY_DRAG_TECH_SAVE)
 
-    def drag_tech_execute(self):
+    def drag_teach_execute(self):
         """Start dragging the teaching point and only execute it once."""
         return self._mesg(ProtocolCode.MERCURY_DRAG_TECH_EXECUTE)
 
-    def drag_tech_pause(self):
+    def drag_teach_pause(self):
         """Pause recording of dragging teaching point"""
         self._mesg(ProtocolCode.MERCURY_DRAG_TECH_PAUSE)
 

pymycobot/mercurychassis.py

@@ -8,6 +8,9 @@ class MercuryChassisError(Exception):
     pass
 
 class MercuryChassis:
+    """
+    Mercury X1 mobile chassis car socket class
+    """
     def __init__(self, ip=None):
         self.ifname = b"wlan0"
         self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)