diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3ee226f..0c2fb34 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,4 +9,8 @@
 ## 0.2.0
 
 * Added dock info
-* Changed logging to debug library
\ No newline at end of file
+* Improved logging to use a debug library
+
+## 0.2.1
+
+* Improved the go to dock command
\ No newline at end of file
diff --git a/README.md b/README.md
index 3df1d64..b8211f2 100644
--- a/README.md
+++ b/README.md
@@ -7,12 +7,16 @@ Feel free to leave any feedback [here](https://github.com/naofireblade/homebridg
 # Features
 
 - Start and pause cleaning
-- Return to dock
+- Return to dock\*
 - Enable and disable schedule
 - Enable and disable eco mode
 - Get battery info
 - Get dock info
 
+\* The robot needs to clean for some seconds before he knows where his dock is. After this time the switch to send him home will be automatically available.
+
+**Hint:** To control the robot with your own commands just set up a scene with the name of your choice.
+
 # Installation
 
 1. Install homebridge using: `npm install -g homebridge`
diff --git a/index.js b/index.js
index 0862dee..f262597 100644
--- a/index.js
+++ b/index.js
@@ -92,10 +92,16 @@ NeatoVacuumRobot.prototype = {
 	dock: function (on, callback) {
 		let that = this;
 		if (on) {
-			debug("Go to dock");
-			that.robot.sendToBase(false, function (error, result) {
+			debug("Pause cleaning to go to dock");
+			this.robot.pauseCleaning(false, function (error, result) {
 				that.log(result);
 			});
+			setTimeout(function() {
+				debug("Go to dock");
+			    that.robot.sendToBase(false, function (error, result) {
+					that.log(result);
+				});
+			}, 3000);
 		}
 		callback();
 	},
@@ -134,8 +140,8 @@ NeatoVacuumRobot.prototype = {
 	getCanGoToDock: function(callback) {
 		let that = this;
 		this.getState(function (error, result) {
-			debug("Can go to dock: " + that.robot.canGoToBase);
-			callback(false, !that.robot.canGoToBase);
+			debug("Can go to dock: " + that.robot.dockHasBeenSeen);
+			callback(false, !that.robot.dockHasBeenSeen);
 		});
 	},
 
@@ -143,6 +149,7 @@ NeatoVacuumRobot.prototype = {
 		let that = this;
 		this.getState(function (error, result) {
 			debug("Is docked: " + that.robot.isDocked);
+			debug(that.robot);
 			callback(false, that.robot.isDocked);
 		});
 	},
diff --git a/package.json b/package.json
index f9b51da..ddf7b3a 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "homebridge-neato",
-  "version": "0.2.0",
+  "version": "0.2.1",
   "description": "A Neato vacuum robot plugin for homebridge.",
   "license": "MIT",
   "keywords": [