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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 3 in pictures
← Back to the lesson: Lesson 3. Ultrasound: centimetres on the display
3
Ultrasound
echo time is centimetres on the display
kh
RB-01
1×
Hz
2×
CD4017B
1×
CD4069UB
1×
CD4013B
1×
CD4081B
1×
CD4011B
1×
CD4029B
4×
4b
0
A
1×
∞
© 2026 Daniil Khanin · khanin.info · RB-01
12
CANVAS
1
Sensors → Ultrasonic: delete the reflector — any wall gives an echo
2
1×
2×
PING
TRIG
ECHO
ECHO
3
Hz
2×
2×
60Hz
CK60
8kHz
CK8K
4
60Hz
CK60
1Hz
2Hz
10Hz
60Hz
4kHz
8kHz
16kHz
…
MAX
8kHz
CK8K
1Hz
2Hz
10Hz
60Hz
4kHz
8kHz
16kHz
…
MAX
5
the chips are ready: pin names as in the TI datasheet; labels — double-click a pin
© 2026 Daniil Khanin · khanin.info · RB-01
13
CANVAS …
6
CD4017B
1×
5×
CD4017B
RESET
RESET
CLOCK
CK60
INH
GND
CO
O9
O8
O7
O6
O5
O4
O3
O2
SHOW
O1
O0
PING
© 2026 Daniil Khanin · khanin.info · RB-01
14
CANVAS …
7
CD4069UB
1×
8×
CD4069UB
A
CK8K
B
FULL
C
GND
D
GND
E
GND
F
GND
G
NCK8K
H
NFULL
I
J
K
L
8
CD4013B
1×
9×
CD4013B
R1
RESET
D1
ECHO
S1
GND
CL1
NCK8K
R2
GND
D2
GND
S2
GND
CL2
GND
Q1
ECHOS
QN1
Q2
QN2
© 2026 Daniil Khanin · khanin.info · RB-01
15
CANVAS …
9
CD4081B
1×
11×
CD4081B
A
CT3
B
CT0
C
CU3
D
CU0
E
X9
F
Y9
G
GND
H
GND
J
X9
K
Y9
L
FULL
M
10
CD4011B
1×
9×
CD4011B
A
ECHOS
B
NFULL
C
GND
D
GND
E
GND
F
GND
G
GND
H
GND
J
CIU
K
L
M
11
CD4029B
1×
14×
CD4029B
BD
GND
PE
PING
CI
CIU
UD
VCC
CLOCK
CK8K
J1
GND
J2
GND
J3
GND
J4
GND
CO
COU
Q1
CU0
Q2
CU1
Q3
CU2
Q4
CU3
© 2026 Daniil Khanin · khanin.info · RB-01
16
CANVAS …
12
CD4029B
1×
13×
CD4029B
BD
GND
PE
PING
CI
COU
UD
VCC
CLOCK
CK8K
J1
GND
J2
GND
J3
GND
J4
GND
CO
Q1
CT0
Q2
CT1
Q3
CT2
Q4
CT3
13
CD4029B
1×
13×
CD4029B
BD
GND
PE
SHOW
CI
VCC
UD
GND
CLOCK
GND
J1
CU0
J2
CU1
J3
CU2
J4
CU3
CO
Q1
DU0
Q2
DU1
Q3
DU2
Q4
DU3
14
CD4029B
1×
13×
CD4029B
BD
GND
PE
SHOW
CI
VCC
UD
GND
CLOCK
GND
J1
CT0
J2
CT1
J3
CT2
J4
CT3
CO
Q1
DT0
Q2
DT1
Q3
DT2
Q4
DT3
© 2026 Daniil Khanin · khanin.info · RB-01
17
CANVAS …
15
4b
0
A
1×
DT3
DT2
DT1
DT0
DU3
DU2
DU1
DU0
HEX
16
Fast
Fast mode: the counter needs every 8 kHz tick
a wall 41 cm away
farther than 99 cm
© 2026 Daniil Khanin · khanin.info · RB-01
18
← Back to the lesson
Lesson 3. Ultrasound: centimetres on the display