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Редактировать с помощью Zachary Kaster -

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Introduction
This guide will show you how to clean your iRobot Roomba 4100’s optical sensor. Cleaning the sensor is one way to fix a common problem known as the “Circle Dance”, which is caused by debris being on or near the bumper and cliff sensors.” Where These sensors tell the Roomba to backup when they run into objects or come near cliffs, and when dirty they can cause your iRobot to continuously spinsspin in a circle, aka the “Circle Dance“.