This is a Roomba Discovery model 4210.

It circles one direction, then another, then emits an "uh,uh" followed by four beeps.

Hitting spot, clean, or max causes the problem to repeat.

Martha Daniel, April 2005

Try http://www.eesolutions.ca. They have a repair kit.

George Hopkins, May 2011

This is known as the Circle Dance of Death. It's usually caused by dirty wheel sensors. Here's a link containing the fix:
http://www.roombareview.com/chat/viewtopic.php?t=382

scroll through the messages until you find it.

SteveVa, April 2006

I had a similar problem with my Roomba.

I was about to purchase a new one, when I found this site www.robotshop.ca, which sells all kinds of robots.

The good thing is, they also offer a Roomba repair service! ( I think they are the only one offering this?) It took about two weeks, from the moment I sent my broken Roomba to RobotShop.ca, to the moment a received it back ! Highly recommended service..

Steve, March 2006