diff --git a/scripts/pythonAPI/common.py b/scripts/pythonAPI/common.py
index 36d9772..441f1c1 100644
--- a/scripts/pythonAPI/common.py
+++ b/scripts/pythonAPI/common.py
@@ -9,5 +9,10 @@ class Angle(enum.Enum):
     J6 = '05'
 
 
-class Coords(enum.Enum):
-    ...
\ No newline at end of file
+class Coord(enum.Enum):
+    X = '00'
+    Y = '01'
+    Z = '02'
+    Rx = '03'
+    Ry = '04'
+    Rz = '05'
\ No newline at end of file
diff --git a/scripts/pythonAPI/mycobot 3.py b/scripts/pythonAPI/mycobot 3.py
new file mode 100644
index 0000000..f6f8009
--- /dev/null
+++ b/scripts/pythonAPI/mycobot 3.py	
@@ -0,0 +1,357 @@
+import sys
+sys.path.append('.')
+import time, subprocess, serial, struct
+
+class MyCobot():
+    '''MyCobot Python API
+
+    Possessed function:
+        power_on()              : 
+        power_off()             :
+        get_angles()            :
+        get_angles_of_radian()  :
+        send_angle()            :
+        send_angles()           :
+        send_angles_by_radian() :
+        set_color()             :
+        get_coords()            :
+        send_coords()           :
+        is_moving()             :
+        pause()                 :
+        resume()                :
+        stop()                  :
+        is_paused()             :
+        get_speed()             :
+        set_speed()             :
+    '''
+
+    def __init__(self):
+        _prot = subprocess.run(['echo -n /dev/ttyUSB*'], 
+                                    stdout=subprocess.PIPE, 
+                                    shell=True).stdout.decode('utf-8')
+        _boudrate = '115200'
+        _timeout = 0.1
+
+        for _ in range(5):
+            try:
+                self.serial_port = serial.Serial(_prot, _boudrate, timeout=_timeout)
+                break
+            except Exception as e:
+                print(e)
+                time.sleep(5)
+                continue
+        else:
+            print('Connect prot failed, eixt.')
+            exit(0)
+
+    def power_on(self):
+        self._write('fe fe 02 10 fa')
+
+    def power_off(self):
+        self._write('fe fe 02 11 fa')
+
+    def set_free_mode(self):
+        self._write('fefe0213fa')
+
+    def get_angles(self):
+        '''Get all angle return a list
+
+        Return:
+            data_list (list):
+
+        '''
+        command = 'fefe0220fa'
+        self._write(command)
+        if self.serial_port.inWaiting() > 0:
+            data = self._read()
+            data_list = self._parse_data(data, 'get_angles')
+            return data_list
+        else:
+            return []
+
+    def get_angles_of_radian(self):
+        '''Get all angle return a list
+
+        Return:
+            data_list (list):
+
+        '''
+        command = 'fefe0220fa'
+        self._write(command)
+        if self.serial_port.inWaiting() > 0:
+            data = self._read()
+            data_list = self._parse_data(data, 'get_angles_of_radian')
+            return data_list
+        else:
+            return []
+
+    def send_angle(self, id, degree, speed):
+        '''Send one angle
+
+        Args:
+            id (common.Angle):
+            degree (int):
+            speed (int): 0 ~100
+
+        '''
+        _hex = self._angle_to_hex(degree)
+        command = 'fefe0621{}{}{}fa'.format(id, _hex, hex(speed)[2:])
+        # print(command)  
+        self._write(command)
+
+    def send_angles(self, degrees, speed):
+        '''Send all angles
+
+        Args:
+            degrees (list): example [0, 0, 0, 0, 0, 0]
+            speed (int): 0 ~ 100
+
+        '''
+        if len(degrees) != 6:
+            print('The lenght of degrees is not right')
+            return
+        command = 'fefe0f22'
+        speed = self._complement_zero(hex(speed)[2:], digit=2)
+        for degree in degrees:
+            _hex = self._angle_to_hex(degree)
+            # print(_hex)
+            command += _hex
+        command += '{}fa'.format(speed)
+        # print(command)
+        self._write(command)
+
+    def send_angles_by_radian(self, radians, speed):
+        '''Send all angles
+
+        Args:
+            degrees (list): example [0, 0, 0, 0, 0, 0]
+            speed (int): 0 ~ 100
+
+        '''
+        if len(radians) != 6:
+            print('The lenght of degrees is not right')
+            return
+        command = 'fefe0f22'
+        speed = self._complement_zero(hex(speed)[2:], digit=2)
+        for radian in radians:
+            # print(radian)
+            _hex = self._angle_to_hex(radian, is_degree=False)
+            # print(_hex)
+            command += _hex
+        command += '{}fa'.format(speed)
+        # print(command)
+        self._write(command)
+
+    def get_coords(self):
+        '''Get all coords.
+
+        Return:
+            data_list (list): [x, y, z, rx, ry, rz] (mm)
+
+        '''
+        command = 'fe fe 02 23 fa'
+        self._write(command)
+        if self.serial_port.inWaiting() > 0:
+            data = self._read()
+            data_list = self._parse_data(data, 'get_coords')
+            return data_list
+        else:
+            return []
+
+    def send_coord(self, id, coord, speed):
+        '''Send one coord
+
+        Args:
+            id(common.Coord):
+            coord(fload):
+            speed(int):
+
+        '''
+        command = 'fefe0624'
+        command += id
+        command += self._coord_to_hex(coord)
+        command += self._complement_zero(hex(int(speed))[2:], digit=2)
+        # print(command)
+        self._write(command)
+
+    def send_coords(self, coords, speed, mode):
+        '''Send all coords
+
+        Args:
+            coords: [x, y, z, rx, ry, rz]
+            speed(int);
+            mode(int): 0 - angluar, 1 - linear
+
+        '''
+        if len(coords) != 6:
+            print('The lenght of coords is not right')
+            return
+        command = 'fefe1025 '
+        speed = hex(speed)[2:]
+        speed = self._complement_zero(speed, digit=2)
+        mode = self._complement_zero(hex(mode)[2:], digit=2)
+        for coord in coords:
+            _hex = self._coord_to_hex(coord)
+
+            command += (_hex + ' ')
+
+        command += '{}{}fa'.format(speed, mode)
+        # print(command)
+        self._write(command)
+
+    def is_servo_enable(self):
+        pass
+
+    def is_all_servo_enable(self):
+        pass
+
+    def set_color(self, rgb):
+        '''Set the light color
+
+        Args:
+            rgs (str): example 'ff0000'
+
+        '''
+        command = 'fe fe 05 6a {} fa'.format(rgb)
+        # print(command)
+        self._write(command)
+
+    def is_moving(self):
+        command = 'fe fe 02 2b fa'
+        self._write(command)
+        data = self._read(2)
+        # print(data)
+        if not data:
+            return True
+        flag = int(data.hex(), 16)
+        if flag:
+            return True
+        else:
+            return False
+
+    def pause(self):
+        self._write('fe fe 02 26 fa')
+    
+    def resume(self):
+        self._write('fe fe 02 28 fa')
+
+    def stop(self):
+        self._write('fe fe 02 29 fa')
+
+    def is_paused(self):
+        self._write('fe fe 02 27 fa')
+        data = self._read()
+        flag = int(data.hex(), 16)
+        return False if flag else True
+    
+    def is_in_position(self, coords):
+        if len(coords) != 6:
+            print('The lenght of coords is not right')
+            return
+        command = 'fe fe 0d 2a '
+        for coord in coords:
+            _hex = self._coord_to_hex(coord)
+
+            command += (_hex + ' ')
+
+        command += 'fa'
+        print(command)
+        self._write(command)
+        data = self._read()
+        flag = int(data.hex(), 16)
+        return False if flag else True
+
+    def get_speed(self):
+        self._write('fe fe 02 40 fa')
+        data = self._read()
+        if data:
+            return int(data.hex(), 16)
+
+    def set_speed(self, speed):
+        '''Set speed value
+
+        Args:
+            speed (int): 0 - 100
+        '''
+        speed = int(speed)
+        if not 0 <= speed <= 100:
+            raise Exception('speed value out of range (0 ~ 100)')
+        _hex = str(hex(speed))[2:]
+        self._write('fe fe 03 41 {} fa'.format(_hex))
+
+    def _parse_data(self, data, name):
+        data_list = []
+        data = data.hex()
+        # print(data)
+        if name == 'get_angles':
+            data = data[-26:-2]
+            for i in range(6):
+                _hex = data[i * 4: (i * 4) + 4]
+                degree = self._hex_to_degree(_hex)
+                data_list.append(degree)
+
+        elif name == 'get_coords':
+            data = data[-26:-2]
+            for i in range(6):
+                _hex = data[i * 4: (i * 4) + 4]
+                _coord = self._hex_to_int(_hex) / 10
+                data_list.append(_coord)
+
+        elif name == 'get_angles_of_radian':
+            data = data[-26:-2]
+            for i in range(6):
+                _hex = data[i * 4: (i * 4) + 4]
+                _radian = self._hex_to_int(_hex) / 1000
+                data_list.append(_radian)
+
+        return (data_list)
+
+    def _hex_to_degree(self, _hex: str):
+        _int = self._hex_to_int(_hex)
+        return  _int * 18 / 314
+    
+    def _hex_to_int(self, _hex: str):
+        _int = int(_hex, 16)
+        if _int > 0x8000:
+            _int -= 0x10000
+        return _int
+
+    def _angle_to_hex(self, _degree: float, is_degree=True):
+        if is_degree:
+            radian = (_degree * (3140 / 180))
+        else:
+            radian = _degree * 1000
+        radian = int(radian)
+        if radian < 0:
+            radian += 0x10000
+        radian = round(radian)
+        s = str(hex(radian))[2:] 
+        s = self._complement_zero(s)
+        return  s
+
+    def _coord_to_hex(self, coord):
+        coord *= 10
+        coord = int(coord)
+        if coord < 0:
+            coord += 0x10000
+        s = str(hex(coord))[2:]
+        s = self._complement_zero(s)
+        return s
+    
+    def _complement_zero(self, s, digit=4):
+        s_len = len(s)
+        if s_len == digit:
+            return s
+        need_len = digit - s_len
+        s = ''.join(['0' for _ in range(need_len)] + [s])
+        return  s
+
+    def _write(self, data: str):
+        # print(data)
+        data = bytes.fromhex(data)
+        self.serial_port.write(data)
+        time.sleep(0.05)
+
+    def _read(self, size: int=1024):
+        data = self.serial_port.read(size)
+        return data
\ No newline at end of file
diff --git a/scripts/pythonAPI/mycobot.py b/scripts/pythonAPI/mycobot.py
index 9ee7a7a..7360dda 100644
--- a/scripts/pythonAPI/mycobot.py
+++ b/scripts/pythonAPI/mycobot.py
@@ -26,9 +26,8 @@ class MyCobot():
     '''
 
     def __init__(self):
-        _prot = subprocess.run(['echo -n /dev/ttyUSB*'], 
-                                    stdout=subprocess.PIPE, 
-                                    shell=True).stdout.decode('utf-8')
+        _prot = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
+                                        shell=True)
         _boudrate = '115200'
         _timeout = 0.1
 
@@ -45,10 +44,10 @@ class MyCobot():
             exit(0)
 
     def power_on(self):
-        self._write('fe fe 02 10 fa')
+        self._write('fefe0210fa')
 
     def power_off(self):
-        self._write('fe fe 02 11 fa')
+        self._write('fefe0211fa')
 
     def set_free_mode(self):
         self._write('fefe0213fa')
@@ -149,7 +148,7 @@ class MyCobot():
             data_list (list): [x, y, z, rx, ry, rz] (mm)
 
         '''
-        command = 'fe fe 02 23 fa'
+        command = 'fefe0223fa'
         self._write(command)
         if self.serial_port.inWaiting() > 0:
             data = self._read()
@@ -158,31 +157,52 @@ class MyCobot():
         else:
             return []
 
-    def send_coord(self):
-        ...
+    def send_coord(self, id, coord, speed):
+        '''Send one coord
+
+        Args:
+            id(common.Coord):
+            coord(fload):
+            speed(int):
+
+        '''
+        command = 'fefe0624'
+        command += id
+        command += self._coord_to_hex(coord)
+        command += self._complement_zero(hex(int(speed))[2:], digit=2)
+        # print(command)
+        self._write(command)
 
     def send_coords(self, coords, speed, mode):
+        '''Send all coords
+
+        Args:
+            coords: [x, y, z, rx, ry, rz]
+            speed(int);
+            mode(int): 0 - angluar, 1 - linear
+
+        '''
         if len(coords) != 6:
             print('The lenght of coords is not right')
             return
-        command = 'fefe1025 '
+        command = 'fefe1025'
         speed = hex(speed)[2:]
         speed = self._complement_zero(speed, digit=2)
         mode = self._complement_zero(hex(mode)[2:], digit=2)
         for coord in coords:
             _hex = self._coord_to_hex(coord)
 
-            command += (_hex + ' ')
+            command += (_hex)
 
         command += '{}{}fa'.format(speed, mode)
-        # print(command)
+        print(command)
         self._write(command)
 
     def is_servo_enable(self):
-        ...
+        pass
 
     def is_all_servo_enable(self):
-        ...
+        pass
 
     def set_color(self, rgb):
         '''Set the light color
@@ -191,12 +211,12 @@ class MyCobot():
             rgs (str): example 'ff0000'
 
         '''
-        command = 'fe fe 05 6a {} fa'.format(rgb)
+        command = 'fefe056a{}fa'.format(rgb)
         # print(command)
         self._write(command)
 
     def is_moving(self):
-        command = 'fe fe 02 2b fa'
+        command = 'fefe022bfa'
         self._write(command)
         data = self._read(2)
         # print(data)
@@ -209,16 +229,16 @@ class MyCobot():
             return False
 
     def pause(self):
-        self._write('fe fe 02 26 fa')
+        self._write('fefe0226fa')
     
     def resume(self):
-        self._write('fe fe 02 28 fa')
+        self._write('fefe0228fa')
 
     def stop(self):
-        self._write('fe fe 02 29 fa')
+        self._write('fefe0229fa')
 
     def is_paused(self):
-        self._write('fe fe 02 27 fa')
+        self._write('fefe0227fa')
         data = self._read()
         flag = int(data.hex(), 16)
         return False if flag else True
@@ -227,11 +247,11 @@ class MyCobot():
         if len(coords) != 6:
             print('The lenght of coords is not right')
             return
-        command = 'fe fe 0d 2a '
+        command = 'fefe0d2a'
         for coord in coords:
             _hex = self._coord_to_hex(coord)
 
-            command += (_hex + ' ')
+            command += (_hex)
 
         command += 'fa'
         print(command)
@@ -241,7 +261,7 @@ class MyCobot():
         return False if flag else True
 
     def get_speed(self):
-        self._write('fe fe 02 40 fa')
+        self._write('fefe0240fa')
         data = self._read()
         if data:
             return int(data.hex(), 16)
@@ -256,11 +276,11 @@ class MyCobot():
         if not 0 <= speed <= 100:
             raise Exception('speed value out of range (0 ~ 100)')
         _hex = str(hex(speed))[2:]
-        self._write('fe fe 03 41 {} fa'.format(_hex))
+        self._write('fefe0341{}fa'.format(_hex))
 
     def _parse_data(self, data, name):
         data_list = []
-        data = data.hex()
+        data = data.encode('hex')
         # print(data)
         if name == 'get_angles':
             data = data[-26:-2]
@@ -285,17 +305,17 @@ class MyCobot():
 
         return (data_list)
 
-    def _hex_to_degree(self, _hex: str):
+    def _hex_to_degree(self, _hex):
         _int = self._hex_to_int(_hex)
         return  _int * 18 / 314
     
-    def _hex_to_int(self, _hex: str):
+    def _hex_to_int(self, _hex):
         _int = int(_hex, 16)
         if _int > 0x8000:
             _int -= 0x10000
         return _int
 
-    def _angle_to_hex(self, _degree: float, is_degree=True):
+    def _angle_to_hex(self, _degree, is_degree=True):
         if is_degree:
             radian = (_degree * (3140 / 180))
         else:
@@ -304,7 +324,7 @@ class MyCobot():
         if radian < 0:
             radian += 0x10000
         radian = round(radian)
-        s = str(hex(radian))[2:] 
+        s = str(hex(int(radian)))[2:] 
         s = self._complement_zero(s)
         return  s
 
@@ -313,7 +333,7 @@ class MyCobot():
         coord = int(coord)
         if coord < 0:
             coord += 0x10000
-        s = str(hex(coord))[2:]
+        s = str(hex(int(coord)))[2:]
         s = self._complement_zero(s)
         return s
     
@@ -325,12 +345,12 @@ class MyCobot():
         s = ''.join(['0' for _ in range(need_len)] + [s])
         return  s
 
-    def _write(self, data: str):
+    def _write(self, data):
         # print(data)
-        data = bytes.fromhex(data)
+        data = data.decode('hex')
         self.serial_port.write(data)
         time.sleep(0.05)
 
-    def _read(self, size: int=1024):
+    def _read(self, size=1024):
         data = self.serial_port.read(size)
         return data
\ No newline at end of file