Ultrasound Sensor (Ping or SRF04/05) for Arduino Robot

Can someone help me with the configuration and connection of either Ping Ultrasound sensor or SRF04/SRF05 Ultrasound Sensors with the new Arduino Robot board. I have followed the example given for Ping and Uno and apparently neither TK nor B_TK ports recognise "pulseIn". Any help or example file would be greatly appreciated.