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Introduction
This guide will show you how to clean your iRobot Roomba 4100’s optical sensorencoder. It should take about 15 minutesThe optical encoder is used to detect cliff edges and tell the robot to back up when nearing these. When the encoder is moderately difficult.obstructed by debris it Youwill cause the robot to continuously back up in needa circle, aka the “circle dance“.Phillips head screw driver
Summary
By cleaning the optical encoders and cleaning the gear shaftHow to fix the iRobot Roomba 4100 will no longer preform the "circle dance" and will function correctly.