Add new interface

Author: anla-xu

pymycobot/common.py

@@ -178,6 +178,10 @@ class ProtocolCode(object):
     MERCURY_SET_BASE_COORD = 0xF1
     MERCURY_SET_BASE_COORDS = 0xF2
     MERCURY_JOG_BASE_COORD = 0xF3
+    
+    MERCURY_DRAG_TECH_SAVE = 0x70
+    MERCURY_DRAG_TECH_EXECUTE = 0x71
+    MERCURY_DRAG_TECH_PAUSE = 0x72
 
     GET_BASE_COORDS = 0xF0
     BASE_TO_SINGLE_COORDS = 0xF1

pymycobot/mercury.py

@@ -315,6 +315,18 @@ def jog_base_coord(self, axis, direction, speed):
             speed (_type_): _description_
         """
         return self._mesg(ProtocolCode.MERCURY_JOG_BASE_COORD, axis, direction, speed)
+    
+    def drag_tech_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):
+        """Start dragging the teaching point and only execute it once."""
+        return self._mesg(ProtocolCode.MERCURY_DRAG_TECH_EXECUTE)
+    
+    def drag_tech_pause(self):
+        """Pause recording of dragging teaching point"""
+        self._mesg(ProtocolCode.MERCURY_DRAG_TECH_PAUSE)