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Roomba 535 - slows down sporadically in middle of...

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Despite having no obstacles, roomba crawls arounf sporadically at spped more aking to when it approaches a wall. Also, sometimes, when it is going around a table leg instead of finishing the 360 deg routine, it leaves half way through and goen off on a curved path. The roomba has also problem cleaniong dirt when it is circling aroung table legs.

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