diff --git a/README.md b/README.md
index 6d5dc37..408970b 100644
--- a/README.md
+++ b/README.md
@@ -10,10 +10,12 @@
 
 <!-- This is the mycobot ROS package designed by Zhang Lijun([lijun.zhang@elephantrobotics.com]()) -->
 
-> Make sure that `Atom2.1alpha` is flashed into the top Atom and `Transponder` is flashed into the base Basic .The tool download address: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)<br>
+> Make sure that `Atom` is flashed into the top Atom and `Transponder` is flashed into the base Basic .The tool download address: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)<br>
 > ubuntu: 16.04LTS<br>
 > ros version: 1.12.17
 
+**If your `Atom` is 2.3 or before, or `pymycobot` is 1.\*, Please check branch [before](https://github.com/elephantrobotics/myCobotRos/tree/before)**
+
 Download ROS [http://wiki.ros.org/ROS/Installation](http://wiki.ros.org/ROS/Installation)
 
 ## 1. Installation
@@ -22,10 +24,8 @@ Download ROS [http://wiki.ros.org/ROS/Installation](http://wiki.ros.org/ROS/Inst
 
 For using this package, the [Python api](https://github.com/elephantrobotics/pymycobot.git) library should be installed first.
 
-If you want to use api alone, you can look here [https://github.com/elephantrobotics/pymycobot.git](https://github.com/elephantrobotics/pymycobot.git)
-
 ```bash
-pip install pymycobot==1.0.7
+pip install pymycobot --user
 ```
 
 ### 1.2 Package Download and Install
diff --git a/READMEcn.md b/READMEcn.md
index 60715c1..bee04aa 100644
--- a/READMEcn.md
+++ b/READMEcn.md
@@ -10,9 +10,11 @@
 
 <!-- This is the mycobot ROS package designed by Zhang Lijun([lijun.zhang@elephantrobotics.com]()) -->
 
-> 请确保顶部的 Atom 烧入 `Atom2.1alpha`，底部的 Basic 烧入 `Transponder`。烧录工具的下载地址: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)<br>
+> 请确保顶部的 Atom 烧入 `Atom`，底部的 Basic 烧入 `Transponder`。烧录工具的下载地址: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)<br>
 > 该包的测试环境：<br> &nbsp;&nbsp;&nbsp;&nbsp; ubuntu: 16.04LTS<br> &nbsp;&nbsp;&nbsp;&nbsp; ros version: 1.12.17
 
+**如果你的`Atom` 是 2.3 或更早的, 或者 `pymycobot` 是 1.\*, 请查看分支 [before](https://github.com/elephantrobotics/myCobotRos/tree/before)**
+
 ROS 下载地址：[http://wiki.ros.org/ROS/Installation](http://wiki.ros.org/ROS/Installation)
 
 ## 1. 安装
@@ -21,10 +23,8 @@ ROS 下载地址：[http://wiki.ros.org/ROS/Installation](http://wiki.ros.org/RO
 
 要使用该包，请确保 [python api](https://github.com/elephantrobotics/pymycobot.git) 已正确安装。
 
-如果你仅仅想单独使用 api, 你可以去到这里 [https://github.com/elephantrobotics/pymycobot.git](https://github.com/elephantrobotics/pymycobot.git)
-
 ```bash
-pip install pymycobot==1.0.7
+pip install pymycobot --user
 ```
 
 ### 1.2 Ros 包的下载和安装
diff --git a/scripts/control_marker.py b/scripts/control_marker.py
index 1aede84..c5458bf 100755
--- a/scripts/control_marker.py
+++ b/scripts/control_marker.py
@@ -209,7 +209,7 @@ def listener():
     while not rospy.is_shutdown():
         joint_state_send.header.stamp = rospy.Time.now()
 
-        angles = mycobot.get_angles_of_radian()
+        angles = mycobot.get_radians()
         rospy.loginfo(angles)
         if angles:
             data_list = []
@@ -228,6 +228,6 @@ def listener():
 
 if __name__ == '__main__':
     port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
-                                    shell=True)
+                                    shell=True).decode()
     mycobot = MyCobot(port)
     listener()
diff --git a/scripts/control_slider.py b/scripts/control_slider.py
index d9b4bfa..1b41379 100755
--- a/scripts/control_slider.py
+++ b/scripts/control_slider.py
@@ -17,7 +17,7 @@ def callback(data):
             value *= -1
         data_list.append(value)
 
-    mc.send_angles_by_radian(data_list, 80)
+    mc.send_radians(data_list, 80)
     # time.sleep(0.5)
     
 def listener():
@@ -30,6 +30,6 @@ def listener():
 
 if __name__ == '__main__':
     port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
-                                    shell=True)
+                                    shell=True).decode()
     mc = MyCobot(port)
     listener()
diff --git a/scripts/display.py b/scripts/display.py
index 634f4d4..0743c95 100755
--- a/scripts/display.py
+++ b/scripts/display.py
@@ -38,7 +38,7 @@ def talker():
     while not rospy.is_shutdown():
         joint_state_send.header.stamp = rospy.Time.now()
 
-        angles = mycobot.get_angles_of_radian()
+        angles = mycobot.get_radians()
         data_list = []
         for index, value in enumerate(angles):
             if index != 2:
@@ -78,7 +78,7 @@ def talker():
 
 if __name__ == '__main__':
     port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
-                                    shell=True)
+                                    shell=True).decode()
     mycobot = MyCobot(port)
     try:
         talker()