From ef08a40adbc5af7f53e61610f4dc49d491c397d3 Mon Sep 17 00:00:00 2001
From: havoc420ubuntu <2993167370@qq.com>
Date: Thu, 15 May 2025 15:27:06 +0000
Subject: [PATCH] # 7

---
 base_move/move_base_hori_line.py | 8 +-------
 utils/image_raw.py               | 2 --
 2 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/base_move/move_base_hori_line.py b/base_move/move_base_hori_line.py
index 4fd01a2..803d017 100644
--- a/base_move/move_base_hori_line.py
+++ b/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")
diff --git a/utils/image_raw.py b/utils/image_raw.py
index 9569575..448d984 100644
--- a/utils/image_raw.py
+++ b/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]