# 7

base_move/move_base_hori_line.py

@@ -351,14 +351,8 @@ def move_to_hori_line(ctrl, msg, target_distance=0.5, observe=False, scan_qrcode
             
         time.sleep(0.05)  # 小间隔检查位置
     
-    # 使用平滑停止方法
-    if forward:
-        current_vel = [move_speed, 0, 0]
-    else:
-        current_vel = [-move_speed, 0, 0]
-    
     # 使用平滑停止
-    ctrl.base_msg.stop_smooth(current_vel=current_vel)
+    ctrl.base_msg.stop_force()
     
     if observe:
         print(f"移动完成，平稳停止，通过里程计计算的移动距离: {distance_moved:.3f}米")

utils/image_raw.py

@@ -81,8 +81,6 @@ class ImageProcessor:
     def decode_qrcode(self, img = None):
         if img is None:
             img = self.get_current_image()
-        if img is None:
-            return None
         decoded_info = self.qreader.detect_and_decode(image=img)
         if decoded_info and len(decoded_info) > 0:
             return decoded_info[0]