   
   switch(fob_stop_to_check) {
     case 1:
-      return (digitalRead(FOB_STOP_1_PIN) == LOW);
+      return (pulseIn(FOB_STOP_1_PIN, HIGH) < fob_threshold);
       
     case 2:
-      return (digitalRead(FOB_STOP_2_PIN) == LOW);
+      return (pulseIn(FOB_STOP_2_PIN, HIGH) < fob_threshold);
       
     case 3:
-      return (digitalRead(FOB_STOP_3_PIN) == LOW);
+      return (pulseIn(FOB_STOP_3_PIN, HIGH) < fob_threshold);
       
     case 4:
-      return (digitalRead(FOB_STOP_4_PIN) == LOW);
+      return (pulseIn(FOB_STOP_4_PIN, HIGH) < fob_threshold);
       
     default:
       return false;

// indicates which fob to check.
byte fob_mode(0);

// Victoria configuration
double ticks_per_radian;
double track_radius;  // in meters

  motor_controller_acceleration =
    ros_param_helper.getParam("motor_controller_acceleration", 10);

  fob_threshold = 
    ros_param_helper.getParam("fob_threshold", 2000);
    
  ticks_per_radian = 
    ros_param_helper.getParam("victoria_ticks_per_radian", 9072);

