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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 4 in pictures
← Back to the lesson: Lesson 4. Without touching: closer than 20 cm
4
Without touching
closer than 20 cm — turn before the bump
kh
RB-01
NEAR
CD4585B
1×
CD4071B
1×
1×
∞
© 2026 Daniil Khanin · khanin.info · RB-01
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CANVAS
1
the chips are ready: pin names as in the TI datasheet; labels — double-click a pin
2
CD4585B
1×
12×
CD4585B
A0
CT0
A1
CT1
A2
CT2
A3
CT3
B0
GND
B1
VCC
B2
GND
B3
GND
LTIN
GND
EQIN
GND
GTIN
VCC
LT
CLOSE
EQ
GT
3
CD4071B
1×
9×
CD4071B
A
HIT
B
NEAR
C
GND
D
GND
E
GND
F
GND
G
GND
H
GND
J
TRIP
K
L
M
© 2026 Daniil Khanin · khanin.info · RB-01
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CANVAS …
4
Alt/⌘+click — blue
5
1×
1×
NEAR
6
A
2×
B
CD4013B
Q1
ECHOS
R2
RESET
GND
CD4013B
Q1
ECHOS
D2
CLOSE
GND
CD4013B
Q1
ECHOS
CL2
SHOW
GND
CD4013B
Q1
ECHOS
Q2
NEAR
CD4001B
J
RDIR
C
TRIP
HIT
© 2026 Daniil Khanin · khanin.info · RB-01
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CANVAS …
7
Fast
Fast mode: the counter needs every 8 kHz tick
< 20 cm
NEAR
closer than 20 cm — NEAR, a turn before the bump
© 2026 Daniil Khanin · khanin.info · RB-01
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← Back to the lesson
Lesson 4. Without touching: closer than 20 cm