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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 5 in pictures
← Back to the lesson: Lesson 5. Along the line
5
Along the line
a sensor sees the line — its wheel stops
kh
RB-01
VCC
1×
GND
1×
1×
1×
2×
0
1×
CD4069UB
1×
CD4001B
1×
∞
© 2026 Daniil Khanin · khanin.info · RB-01
23
CANVAS
1
a separate project — a new canvas
2
VCC
1×
GND
1×
2×
VCC
VCC
GND
GND
3
1×
800 × 500
track-1-stadium.json
paper ⬆ → a track file
4
the robot on the line: the line between the sensors
© 2026 Daniil Khanin · khanin.info · RB-01
24
CANVAS …
5
1×
4×
LON
L_ON
RON
R_ON
VCC
L_DIR
VCC
R_DIR
6
drag by the orange nut to the green point of the chassis — it snaps on
7
2×
2×
SL
OUT
fl
SR
OUT
fr
8
0
1×
1×
0
GO
9
the chips are ready: pin names as in the TI datasheet; labels — double-click a pin
© 2026 Daniil Khanin · khanin.info · RB-01
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CANVAS …
10
CD4069UB
1×
7×
CD4069UB
A
GO
B
GND
C
GND
D
GND
E
GND
F
GND
G
NGO
H
I
J
K
L
11
CD4001B
1×
10×
CD4001B
A
SL
B
NGO
C
SR
D
NGO
E
GND
F
GND
G
GND
H
GND
J
LON
K
RON
L
M
straight
left
right
© 2026 Daniil Khanin · khanin.info · RB-01
26
← Back to the lesson
Lesson 5. Along the line