Wheel error

Question

This Roomba worked fine, but one day upon turning it on 'clean' it will move forward no more than 1.5 feet then spins a circle dance back & forward. It then gives the 4 error beeps for the wheel. I disassembled both wheels to clean them & check for broken or loose wiring. Reassembled and problem repeats. Is there anyone else that has run into this? Any help will be appreciated. Thank you.