I would certainly think you could do that, but I was able to use IFTTT for free to do what I wanted to do. I turn a few extra lights on for a couple of hours per week. I'm satisfied without the additional motion sensors myself.
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I have the same issue with lighting and my i8+. I was thinking of mounting a motion sensor to the base looking down at the roomba. Once it seems motion it toggles the lights on. Once it sees motion a second time, indicating the roomba has returned to base, have it toggle the lights off. This solution would still work even if the roomba returns to the base for a mid job bin self empty cycle. Thoughts
I could see that working. The only issue I see would be to have the motion sensor only see the Roomba. In our case it is in a home office so I wouldn't want it to pick up my motion when I was working in the office.
I am going to have have the motion sensor pointed straight down, with blinders if need be
