Creators – Week 13

This week we continued writing the code to control our environment.

Creating a Random Piece of Environment

We started by adding a new function CreatePrefab() to EnvController.cs. It uses Random.Range() to pick a random prefab from EnvPrefabs and then uses Instantiate() to create a copy of that prefab in the scene. Here’s the first version we wrote:

  private GameObject CreatePrefab(Vector3 position)
  {
    // Pick a random prefab
    int numPrefabs = EnvPrefabs.Length;
    GameObject prefab = EnvPrefabs[Random.Range(0, numPrefabs)];

    // Create an instance of it
    GameObject go = Instantiate(prefab, position,
                                Quaternion.identity, transform);

    // Add DestroyAfterDistance to it
    DestroyAfterDistance dad = go.AddComponent<DestroyAfterDistance>();
    dad.Distance = 700.0f;

    // Add ConstantMovement to it
    ConstantMovement cm = go.AddComponent<ConstantMovement>();
    cm.Direction = Vector3.left;
    cm.Speed = 100.0f;

    // Return it
    return go;
  }

Note that CreatePrefab() takes a position to create the new instance at as an argument. It also returns the GameObject we created, which will prove useful later.

To make the code actually run, we added this to the Start() function:

CreatePrefab(Vector3.zero)

Vector3.zero represents (0, 0, 0).

We quickly found that this created our random piece of environment, but it wasn’t rotated the way we wanted. We updated CreatePrefab() as follows to correct that:

    // Create an instance of it
    Quaternion rotation = Quaternion.Euler(0, -90, 0);
    GameObject go = Instantiate(prefab, position,
                                rotation, transform);

We create a new variable rotation which represents a rotation of -90 degrees around Y (the vertical) and then use it in the call to Instantiate() instead of Quaternion.identity.

Initial Environment Setup

When the game starts, we want to have the ground under and ahead of the spaceship filled in. To do this, we first create some new class properties:

  public GameObject[] EnvPrefabs;
  public float Spacing = 100.0f;
  public float Speed = 50.0f;
  public int Count = 6;

  private Vector3 _spawnPoint;
  private GameObject _lastGo;

There are three new public properties. Spacing represents the size of each environment piece. Speed is the speed we’d like everything to move at. Count is how many environment pieces to have visible at a time.

There are also two private properties. _spawnPoint represents the place we’d like new pieces of environment to appear. _lastGo stores the last piece of environment we created.

In Start() we initialise _spawnPoint() like this:

    // Calculate the spawn point based on spacing and count
    _spawnPoint = Vector3.right * Count * Spacing;

We’ll use all these properties eventually. For now, we just write a new function Preload() and call it from Start() instead of CreatePrefab().

  private void Preload()
  {
    for (int i = 0; i < Count; i++)
    {
      Vector3 pos = Vector3.right * i * Spacing;
      _lastGo = CreatePrefab(pos);
    }
  }

This function just loops for Count times, working out a new location to place the environment piece and calling CreatePrefab(). It stores each prefab as we create it in _lastGo. When we run, we see the environment under the ship, but once it passes it’s gone and no more is created.

Having EnvController Control the Speed of the Environment Pieces

Instead of having each environment piece we create have it’s speed set and constant, we decided to link it to the EnvController. To to that we create a new class called MoveWithEnvironment.cs. It looks like this:

using UnityEngine;

public class MoveWithEnvironment : MonoBehaviour
{
  public EnvController EnvController;

  // Update is called once per frame
  void Update()
  {
    if (EnvController == null)
      return;

    transform.position = transform.position +
      (Vector3.left * EnvController.Speed * Time.deltaTime);
  }
}

It’s very similar to ConstantMovement but it always moves towards Vector3.left and it takes speed from the EnvController. This allows us to vary the speed in the EnvController and have all environmental pieces immediately react to that. We need to add this, instead of ConstantMovement, to our newly created piece of environment in EnvController.CreatePrefab():

    :   :    :
    // Add DestroyAfterDistance to it
    DestroyAfterDistance dad = go.AddComponent<DestroyAfterDistance>();
    dad.Distance = 700.0f;

    // Add MoveWithEnvironment to it
    MoveWithEnvironment mwe = go.AddComponent<MoveWithEnvironment>();
    mwe.EnvController = this;

    // Return it
    return go;
}

All the code relating to ConstantMovement is replaced with code relating to MoveWithEnvironment instead. We assign the special variable this to set the EnvController property in MoveWithEnvironment.

Creating More Environment as We Need It

To create environment as we need it, we added code to Update() as follows:

  void Update()
  {
    if (_lastGo == null)
      return;

    float distToLast = Vector3.Magnitude(_lastGo.transform.position -
                                         _spawnPoint);
    if (distToLast >= Spacing)
    {
      _lastGo = CreatePrefab(_spawnPoint);
    }
  }

The code first checks to make sure that _lastGo has been set. If it has, it worked out how far the last piece of environment has moved from the _spawnPoint. If it’s equal to, or greater than, the spacing then we make a new piece of environment.

Now, as pieces of the environment move towards Vector3.left new ones are created as needed in front of our spaceship.

This code almost works great, but there’s one thing – there’s clearly gaps between the pieces of environment some times. This is because it’s not likely that on a specific frame the environment piece will have moved exactly Spacing meters. It will usually have moved a little more, hence the gaps.

Next session, we’ll correct for this.

Getting the Code

All the code we’re made this year is on our GitHub. It can be found here. If you don’t have the latest version of our code before any session, use the green Code button on that page to get the “Download ZIP” option which will give you a full copy of all code we’ll be writing this year.

Bodgers – Servos

This week we will connect a SG90 mini servo to our Pico.

Wire the breadboard as shown below:

First test that the buttons are working correctly with the following code.

from machine import Pin
from time import sleep

button_1 = Pin(18, Pin.IN, Pin.PULL_UP)
button_2 = Pin(19, Pin.IN, Pin.PULL_UP)

while True:
    if button_1.value() == 0:
        print("Button 1 is Pressed")
    if button_2.value() == 0:
        print("Button 2 is Pressed")
    sleep(0.1)

Next here is the code for the Servo.

from machine import Pin, PWM
from time import sleep

servo_pin = PWM(Pin(0))
servo_pin.freq(50)

def servo(degrees):
    if degrees > 180:
        degrees = 180
    if degrees < 0:
        degrees = 0
       
    max_duty = 8050
    min_duty = 1650
       
    new_duty = (min_duty + (max_duty - min_duty) * (degrees/180))
    servo_pin.duty_u16(int(new_duty))

servo(0)
sleep(0.5)
servo(90)
sleep(0.3)
servo(180)
sleep(0.3)

This weeks challenge is to combine both pieces of code above so that when button 1 is pressed the servo arm will move one way and when button 2 is pressed it will move in the opposite direction.

Creators – Week 12

This week we took our Blender creations back into Unity. We started with the same file, ShipsAndEnv3.5,blend, which can be found here on our Teams site (for site members only).

Export from Blender

Blender offers extensive export options and we quickly ran through the list. The one we’re going to use is FBX. It’s a widely used format, well supported in lots of 3D software, with good material and animation support.

To export the file, we made sure all object were unhidden, and chose File|Export|FBX. We left all the options as-is except the “Apply Transforms” option, which we selected. This option has a warning next to it, as it doesn’t work with animations, but that doesn’t apply to us here.

The resulting FBX file was saved to the same folder as our BLEND file.

Import into Unity

To import the FBX file into Unity, we created a new folder called “Model” and dragged the FBX file from Windows Explorer/macOS Finder into it.

We decided to extract the materials from the file. This will allow us to change them in Unity. To do that we selected the FBX in the Model folder in Unity and in the Inspector window, went to the Material tab and chose “Extract Materials”. All the materials in the FBX were then extracted as Unity materials in the same folder as the FBX file.

Prefabs

We then wanted to break apart the combined FBX file into it’s separate parts. To do that we first created a blank scene and dropped the model from the “Model” folder into the Hierarchy window. We checked the Inspector window to make sure it was positioned at (0, 0, 0) and adjusted it if needs be.

Note that Unity showed the model coloured blue in the Hierarchy. This means it was treating it as a “Prefab”. A prefab in Unity is just a collection of GameObjects and components that are treated as a template. It’s easy to create copies of them at run-time.

We want prefabs of all the things in the FBX file, not the FBX model itself. To separate out the bits from the FBX model, we right-clicked on it in the hierarchy and chose Prefab|Break Apart Completely. Not much obviously changed except everything in the hierarchy turned black, indicating it was no longer a prefab, just normal objects.

We then created a new folder called “Prefabs” and dragged everything inside the FBX model (but not the FBX model itself) into it. That’s all you have to do to make something you already have in a Unity scene into a prefab, drag it into the Project window. Now we can create copies of all these objects at run-time very easily.

Adding our Ship to the Scene

To add our ship to the scene, we dragged the Ship prefab from the Prefabs folder and dropped it onto the Player gameobject in the Hierarchy. The Ship model was then a child of the Player object. We needed to rotate the Ship by -90 around the Y axis to make it point in the correct direction. We also set the scale of teh Plater object to (1, 1, 1) and removed the Mesh Filter, Mesh Renderer and Box Collider components from Player, as these were no longer needed.

Our game looks better already with a ship model rather than a flying mattress!

Some Test Code

We tested two simple components on a test cube added to the scene. One which created constant movement in a particular direction and the other which deletes the attached gameobject once we’ve traveled a set distance from where we started.

The first of these, ConstantMovement.cs looks like this:

using UnityEngine;

public class ConstantMovement : MonoBehaviour
{
  public Vector3 Direction = Vector3.forward;
  public float Speed = 10.0f;

  // Update is called once per frame
  void Update()
  {
    Vector3 offset = Direction.normalized * Speed * Time.deltaTime;
    transform.position = transform.position + offset;
  }
}

Two public variables define the direction and speed respectively. In Update() we calculate how to move this frame by multiplying the normalised version of the Direction (normalised meaning the length is set to 1) by the speed and Time.deltaTime (the time since the last frame). We then set a new value for the position by adding this offset to the previous position.

The second DestroyAfterDistance.cs looks like this:

using UnityEngine;

public class DestroyAfterDistance : MonoBehaviour
{
  public float Distance = 10.0f;

  private Vector3 _initPos;

  // Start is called before the first frame update
  void Start()
  {
    _initPos = transform.position;      
  }

  // Update is called once per frame
  void Update()
  {
    Vector3 offset = _initPos - transform.position;
    float offsetDist = offset.magnitude;

    if (offsetDist >= Distance)
    {
      Destroy(gameObject);
    }
  }
}

It just has once public variable, the distance the GameObject is allowed to travel. It also has one private variable, set in Start(), which stores the initial position.

In Update() we check how far we’ve travelled by getting the vector difference between the start position and our current position and then getting it’s magnitude (aka length). This tells us how far we have moved. if this distance is greater than the the specified Distance, we call Destroy(gameObject) thereby destroying the GameObject this component is attached to.

Getting the Code

All the code we’re made this year is on our GitHub. It can be found here. If you don’t have the latest version of our code before any session, use the green Code button on that page to get the “Download ZIP” option which will give you a full copy of all code we’ll be writing this year.

Bodgers – Buttons

This week we are looking at using buttons on our Raspberry Pi Picos.

Connect the LEDs and Buttons to the Pico as shown below:

Next use the code below to test the LEDs

from machine import Pin
from time import sleep

red_led = Pin(15, Pin.OUT)
green_led = Pin(14, Pin.OUT)

def blink():
    red_led.value(1)
    sleep(0.5)
    red_led.value(0)
    green_led.value(1)
    sleep(0.5)
    green_led.value(0)

while True:
    blink()

Next we’ll test the buttons using the following code:

from machine import Pin
from time import sleep

button_1 = Pin(18, Pin.IN, Pin.PULL_UP)
button_2 = Pin(19, Pin.IN, Pin.PULL_UP)

while True:
    if button_1.value() == 0:
        print("Button 1 is Pressed")
    if button_2.value() == 0:
        print("Button 2 is Pressed")
    sleep(0.1)

This week’s challenge is create a program called buttons_leds.py that turns on the red LED and turns off the green LED when button 1 is pressed and when button 2 is pressed will turn the green one on and the red one off.

Creators – Week 11

This week we completed our ship from the previous week by adding some materials. Materials are what provides colour to models.

Out model, by default, contains a single material slot. This default material is a grey material and because there’s a single slot, it’s applied to all faces.

To start colouring our model we went to the material properties panel on the right-hand-side of the screen. It has a red circular icon as seen at (1) below.

We removed the default material slot by using the – key at (2) above then then added two new materials, called Ship and Ship_Detail by pressing + at (2) to make two new material slots and using the “New” button at (3) when those empty slots where selected to actually make a new material.

The default material component has a lot of inputs, but we can ignore most of them for now. The most important ones are:

  1. Base Colour: This is the main colour of the material
  2. Metallic: How much like a metal the material is. Although a slider, its normally to be either zero (not a metal) or 1 (a metal) rather than anything in-between.
  3. Roughness: How smooth or rough the material is. Will greatly impact how light reflects off the object. Metallic materials with very low roughness look mirror-like.

We set Ship and Ship_Detail with contrasting colours, metallic finish and low roughness.

Environment

We are going to create loads of environment sections that snap together. The follow the basic pattern show above. A flat area 90x100m in size, with a vertical edge 4m high and a 20m flat area beyond that. We can add any embellishments to the raised flat area on the sides, so long as they’re not too high on the side facing the camera. We don’t want to obscure the ship.

Like the ship, we created two contrasting materials for the environment, one dark as a base and one bright as a contrast colour for details.

Getting the Model

The Blender model for this week can be downloaded from our Teams site here.

Medtronic Foundation – Laptop Donation

Medtronic Logo

We are very grateful to the Medtronic Foundation, through Medtronic employee and mentor Declan Fox, for the donation of several laptops to CoderDojo Athenry. Our loaner laptop program helps those who cannot otherwise afford a laptop to attend CoderDojo Athenry. Keeping CoderDojo Athenry free to attend and as inclusive as possible is always one of our key aims.

The Medtronic Foundation partners to improve health for underserved populations, as well as supports communities where Medtronic employees live and give. They empower Medtronic employees to positively impact local communities by leveraging their skills, time and resources. If you’d like to read more about their work you can find their webpage here.

Bodgers – Distance Sensors

This week we will be using the HC-SR04 Ultrasonic Distance Sensor

Wire up the sensor as shown below

Here is the code we will need for the sensor.

#From www.tomshardware.com/how-to/raspberry-pi-pico-ultrasonic-sensor
from machine import Pin
import utime

trigger = Pin(17, Pin.OUT)
echo = Pin(16, Pin.IN, Pin.PULL_DOWN)

def ultra():
   trigger.low()
   utime.sleep_us(2)
   trigger.high()
   utime.sleep_us(5)
   trigger.low()
   while echo.value() == 0:
       signaloff = utime.ticks_us()
   while echo.value() == 1:
       signalon = utime.ticks_us()
   timepassed = signalon - signaloff
   distance = (timepassed * 0.0343) / 2
   print("The distance from object is ",distance,"cm")

while True:
   ultra()
   utime.sleep(1)

Once this is working you can move on to this week’s challenge. Combine this with the LED code from the last session so that the LED flashes when the distance measured by the sensor is less than 30CM. Here is the LED code:

from machine import Pin
from time import sleep

led = Pin(15, Pin.OUT)

def flash():
    led.value(1)
    sleep(0.5)
    led.value(0)
    sleep(0.5)
    
while True:
    flash()

Creators – Week 10

This week we took our cube and made it vaguely more spaceship-shaped by moving it up to (0, 2, 0) and resizing it to (5, 1, 4). We also took our ground plane and scaled it to (10, 10, 10). Now it looks vaguely more like a flying craft than before!

The ship controls still work as before. WASD move the ship horizontally over the ground and there’s no vertical movement. To make it look more like a flying craft, we’d like it to bank (aka. tilt over) as it moves horizontally. That’s going to take a bit of figuring out.

Angles in Unity

Let’s take a little aside to talk about angles in Unity.

In the Unity Inspector we see three numbers for a transform’s rotation. These numbers represent rotations around the X, Y and Z axis respectively. This way of storing a rotation is known as “Euler angles”. It seems simple and straightforward and, if you’re rotating around just one of the X,Y or Z axes, it is, but for complex rotations it actually has a lot of problems. The order in which you apply the rotations matters. If you rotate first in X then Y and the Z, you get one orientation, but choose a different order and you’ll get something different. It’s ambiguous.

Look at these two boxes. Each are rotated by 90degrees around the X and Z axis but in a different order. They end up in completely different orientations:

Rotations internally in Unity are stored using a special variable called a Quaternion. Euler angles can easily be converted to Quaternions and back again. Quaternions store the axis that the object rotates around and the amount of the rotation. It’s completely unambiguous with no order to worry about.

When we code, we use Quaternions for rotations because that’s what Unity uses.

Variables for Ship Tilt

In ShipControls.cs we add two variables TiltSpeed and TiltLimit to control banking. TiltLimit represents the amount of degrees we’re going to bank as we move horizontally and TiltSpeed is how quickly we can change angle. We don’t want the craft immediately going from tilting one direction to tilting the other – we want a smooth change of rotations. That will look a lot better.

  public float TiltSpeed = 10.0f;
  public float TiltLimit = 10.0f;

Because these are public properties, we see them appear in the inspector for Ship Controller.

Determining What Tilt We Should Have

Tilt is dependent on the user input. If the user is pressing right, we should be titled to the right. If the user is pressing left, we should be tilted to the left. If the user isn’t pressing left or right, we should be level.

In the Update() function in ShipControls.cs we add this code near the top:

    float tiltTarget = 0;

    if (moveInput.x < 0)
      tiltTarget = TiltLimit;
    else if (moveInput.x > 0)
      tiltTarget = -TiltLimit;

    Quaternion targetRotation = Quaternion.Euler(tiltTarget, 0, 0);

So depending on user input, tiltTarget will either be 0, TiltLimit or -TiltLimit (note the minus). We then turn this into a Quaternion representing this amount of a rotation around the X axis.

Moving Smoothly Between Rotations

How do we move smoothly between two rotations, namely the rotation we’re at and the rotation we want to be at?

There’s a general concept called “linear interpolation” for finding a value some proportion of the way between two other values. Let’s imagine a trivial example; if our numbers were 0 and 10 then the number 50% of the way (aka. half) between these would be 5. In Unity linear interpolation is known as “Lerp” and it can be used not just for simple numbers but for Vector3’s (representing positions and directions) and Quaternions (representing rotations) too.

For Quaternions, Unity has a special “Lerp” that works really well for rotations called Quaternion.Slerp(). “Slerp” stands for Spherical liner interpolation. Not a function name you’ll quickly forget. So to “Slerp” between the angle we’re currently at and the angle we’d like to be at, we need to know what proportion of that change we can make this frame. Here’s how we calculate that proportion:

  1. Find the angular different between the rotation we’re at and the rotation we’d like to be at
  2. Calculate how long, given the speed we’ve specified for changing angle, it would take to fully make that change in rotation
  3. Calculate, given the time since the last frame, what proportion of that change we can actually make (it will be just a small bit of the change).

Here’s what the code looks like:

    float rotationDiff = Quaternion.Angle(targetRotation, 
                                          transform.rotation);
    float timeToFullyRotate = rotationDiff / TiltSpeed;
    float rotationProportion = Time.deltaTime / timeToFullyRotate;

Finally we actually set the transform’s rotation using Slerp(), the rotation we’re at, the rotation we’d like to be at and the proportion of the change that we’ve calculated:

transform.rotation = Quaternion.Slerp(transform.rotation, 
                                      targetRotation, 
                                      rotationProportion);

Tuning the Variables

Testing the ship control code we found that good values for the variables were as follows:

Move Speed50
Tilt Speed100
Tilt Limit30

We also noted that any values entered in the inspector override defaults in the code.

Simple Blender Spaceship

We started on a simple spaceship model in Blender, using the proportions of our cube in Unity as a guide [5m x 1m x 4m].

This was mine, but everyone had their own take. If anyone wants to download mine, it can be found here on our Teams site. If you’re not a member of our Teams site yet, get in touch to be added.

When we return after our break, we’ll look to texture this model and export it from Blender and import it into Unity.

Getting the Code

All the code we’re made this year is on our GitHub. It can be found here. If you don’t have the latest version of our code before any session, use the green Code button on that page to get the “Download ZIP” option which will give you a full copy of all code we’ll be writing this year.

Advancers – Week 9 (2023 – 2024)

Programming

This week we created our very own programming language in Scratch.

It reads a list of commands and does what it’s told.

It only understands a few commands:

M = Move
T = Turn
X = Go To X
Y = Go To Y
P = Pen Up or Down
C = Change colour

The Lines in the list have to be in the right format for the code to work. The right format is the Single Letter for the command followed by a colon (:), followed by a Parameter, if the command needs it. For example this command:

M:10

Tells the code to M(ove) 10 steps.

Spirals – To create a list of Commands.

We also spent some time updating the Spirals project so that it could create a List of Commands that could be used by the Programming project to draw the same Spiral.

Export/Import a List

We also experimented with the Export List and Import List options in Scratch to move lists of Commands in and out of different Projects. So for Example you could:

1: Open the Spirals Project.
2: Run a Spiral to add entries to the List.
3: Right Click on the List and Export it to a file.
4: Open the Programming Project.
5: Right click on the List and Import the file you created in step 3.
6: Run the Programming project and it will draw the same spiral.

See it in Action.

Both the Programming Project and the Spirals project that can generate a List have been loaded up to the Scratch Web Site (https://scratch.mit.edu), you should be able to see them without connecting by using the following links:

ClassVersion-Programming https://scratch.mit.edu/projects/953994281/
ClassVersion-Spirals-Programming https://scratch.mit.edu/projects/953995854

If you want to connect and upload your own projects you can use the following details:
username : athenryadvancers
Password : Advancers