Docking mock up

[gmptrr98]

Hello, I'm trying to build a dock using IR LED and an Arduino. I'm almost able to make it work: subscribing to the /ir_opcode topic I'm able to see the response from Create 3 and I get the correct results, which means that the circuit is working and each LED is recognised by the robot.
What I don't understand is why, even if I get ir_opcode of 173 (which means that force field, red and green buoy are visible), the /dock topic publishes on dock_visible=FALSE. Due to this, I'm not able to run the ros action for docking.

test_iropcode_dock.MOV.mov

Do I need some extra sensors to make my dock recognised? Or is there any way to overwrite the dock_visible to TRUE so that I can run my action?

[justinIRBT]

Out of curiosity, if you just produce one of the opcodes, like RED, does the robot report dock_visible? I don't think our dock produces them all simultaneously. Do you still have the physical dock that came with the robot to compare ir_opcode behavior on the robot or did you take it apart for your project?

[gmptrr98]

I have the real dock, I just noticed that with it, even when very close, it flickers between 161 (Force field) and 172 (Green and Red), I never get 173. I'll make some tests without the force field led and see if that's the problem.

[gmptrr98]

Ok I figured out. If I make field, green and red flash together it doesn't recognize it as a dock (so opcode 165, 169 and 173). For any other opcode it works.
Thank you!