Example program 16 and image path extractor refactor

trpl_examples/16_digital_IO/README.md

@@ -0,0 +1,5 @@
+# Example 16: Digital input and output (Digital I/O)
+This example will be demonstrating how to get signals from input and output pins, by controlling a gripper using a proximity switch. You can find these output pins on one of the sides of the robot cabinet. Check the current status of the pins by going to the status tab in the software UI and look at the Digital I/O section to the right.
+
+### Learn more about the Tormach Robot Programming Language (TRPL):
+https://tormach.atlassian.net/wiki/spaces/ROBO/pages/1930690719/Tormach+Robot+Programming+Language

trpl_examples/16_digital_IO/digital_io.py

@@ -0,0 +1,41 @@
+
+
+# Example 16: Digital input and output (Digital I/O)
+# This example will be demonstrating how to get signals from input and output pins,
+# by controlling a gripper using a proximity switch.
+# You can find these output pins on one of the sides of the robot cabinet,
+# or go to the status tab in the software UI and look at the Digital I/O section to the right.
+
+# These pins make it easy to interact with external devices like buttons or grippers.
+
+
+
+from robot_command.rpl import *
+
+
+set_units("mm", "deg")  # set units
+
+# Setting up global variables for the pins
+GRIPPER_PIN = 7  	
+PROX_SWITCH_PIN = 5
+
+# Before we start opening and closing the gripper we need to set it in a known state.
+set_digital_out(GRIPPER_PIN, False)  # Close gripper
+
+#***************************************************************
+# NOTE: For this program you will need a button and grippers 
+#**************************************************************
+
+notify("In this program, you will be opening and closing a gripper using a proximity switch.\n\nClick \"OK\" to continue if you have the gripper connected to output pin 7 and proximity switch conected to input pin 5 located on the robot cabinet.\n\nTo trigger the proximity switch put the proximity switch papendiculer to any metal surface.", warning=True)
+
+
+# The main function runs in a loop
+def main():
+	input_pin_state = get_digital_in(PROX_SWITCH_PIN)  # Get the current state of the proximity switch.
+
+	# The proximity switch state will be "False" when its in contact with a metal object.
+	if input_pin_state is False:  # If we detect a metal object
+		set_digital_out(GRIPPER_PIN, True)  # Open gripper
+		sleep(2)  # Wait 2 seconds
+
+	set_digital_out(GRIPPER_PIN, False)  # Close gripper

trpl_examples/projects/image_path_extractor_pathpilot/common.py

@@ -2,6 +2,7 @@
 import cv2
 import json
 
+
 def cv_contour_list_to_pathsList(contourList):
     newList = []
     list = contourList
@@ -56,4 +57,23 @@ def cv_strict_resize(img, _desired_width=150, _desired_height=150):
         new_height = _desired_height
         new_width = int(new_height * aspect_ratio)
     print("new W:H", new_width, new_height)
-    return cv2.resize(img, (new_width, new_height), interpolation=cv2.INTER_AREA)
+    return cv2.resize(img, (new_width, new_height), interpolation=cv2.INTER_AREA)
+
+def b_spline(waypoints):
+    if not waypoints:
+        return []
+
+    waypoints = np.array(waypoints)
+    x = []
+    y = []
+
+    x = waypoints[:, 0]
+    y = waypoints[:, 1]
+
+
+    tck, _ = interpolate.splprep([x, y])
+    u = np.linspace(0, 1, num=200)
+    _x, _y = interpolate.splev(u, tck)
+    smooth = np.dstack((_x, _y))
+    # print(smooth)
+    return smooth[0]