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The Ultrasonic Robot
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Contents
Introduction
A little history
Lesson 1. The chassis: two wheels
1.1. Idea: no steering wheel — just two wheels
1.2. Idea: four moves
1.3. Idea: the arena
1.4. Build
1.5. Check
Lesson 1 paste (Cmd+I)
Lesson 2. The «bug»: a bumper and the CD4017
2.1. Idea: a manoeuvre is a sequence of steps
2.2. Idea: wait for a bump — HOLD
2.3. Idea: which wheel goes which way — LDIR and RDIR
2.4. Build
2.5. Check
Lesson 2 paste (Cmd+I)
Lesson 3. Ultrasound: centimetres on the display
3.1. Idea: time is distance
3.2. Idea: a measurement is a sequence of steps
3.3. Idea: the centimetre counter — two CD4029s
3.4. Idea: when to count — CIU
3.5. Idea: «full» — FULL
3.6. Idea: the echo in step with the clock — ECHOS
3.7. Idea: a display that does not flicker
3.8. Build
3.9. Check
Lesson 3 paste (Cmd+I)
Lesson 4. Without touching: closer than 20 cm
4.1. Idea: «closer than 20 cm» — compare the tens — CLOSE
4.2. Idea: remember at the show step — NEAR
4.3. Idea: a bump or close — TRIP
4.4. Build
4.5. Check
Lesson 4 paste (Cmd+I)
Lesson 5. Along the line
5.1. Idea: the line sensor
5.2. Idea: drifted off — steer back
5.3. Idea: L_ON — and the GO switch too
5.4. Idea: why the tracks look like this
5.5. Build
5.6. Check
Lesson 5 paste (Cmd+I)
Summary
All the parts
Instructions in pictures
Lesson 2 in pictures
← Back to the lesson: Lesson 2. The «bug»: a bumper and the CD4017
2
The «bug»: a bumper and the CD4017
bumped — backed off — turned
kh
RB-01
FWD
BACK
TURN
Hz
1×
Q
Q
1×
1×
CD4017B
1×
CD4072B
1×
CD4069UB
1×
CD4001B
1×
1×
1×
1×
∞
© 2026 Daniil Khanin · khanin.info · RB-01
8
CANVAS
1
library → import → robot-chips.json: a Robot folder, ten chips
2
delete the lesson 1 trial — the LDIR and RDIR switches; keep the labels on the chassis
3
Delete
0
LDIR
0
RDIR
4
Hz
1×
Q
Q
1×
2×
10Hz
CK
RESET
5
1×
1×
110
HIT
HIT
© 2026 Daniil Khanin · khanin.info · RB-01
9
CANVAS …
6
the chips are ready: pin names as in the TI datasheet; labels — double-click a pin
7
CD4017B
1×
12×
CD4017B
RESET
RESET
CLOCK
CK
INH
HOLD
CO
O9
O8
T4
O7
T3
O6
T2
O5
T1
O4
B4
O3
B3
O2
B2
O1
B1
O0
FWD
8
CD4072B
1×
10×
CD4072B
A
B1
B
B2
C
B3
D
B4
E
T1
F
T2
G
T3
H
T4
J
BACK
K
TURN
© 2026 Daniil Khanin · khanin.info · RB-01
10
CANVAS …
9
CD4069UB
1×
8×
CD4069UB
A
FWD
B
BACK
C
GND
D
GND
E
GND
F
GND
G
NFWD
H
LDIR
I
J
K
L
10
CD4001B
1×
10×
CD4001B
A
BACK
B
TURN
C
HIT
D
NFWD
E
GND
F
GND
G
GND
H
GND
J
RDIR
K
HOLD
L
M
11
1×
1×
1×
3×
FWD
BACK
TURN
FWD
drives
bump
BACK
back 0.4 s
TURN
turn 0.4 s
© 2026 Daniil Khanin · khanin.info · RB-01
11
← Back to the lesson
Lesson 2. The «bug»: a bumper and the CD4017