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sounds like you have two different issues here. (Possibly one common)
Clean out the cliff sensors. Under the bumper. blow it out clean. This might stop the reverse circling. The battery is either bad, or the charging circuit is bad. if battery is know good then the problem is the main board needs to be replaced. a bad battery will kill a main boards charging circuit by over working it with shorted batteries
When the status light comes on, the Roomba is going to sing "uh-oh," and then beep a number of times. Count the beeps. They're a code that tells you what's wrong with the Roomba. You can check iRobot's website for a chart of beep codes. Search "What is Roomba saying to me?" on the troubleshooting page.
there should be 2 quarter sized sensors on top/behind the brush that detect granular objects. I'd try cleaning those off. they might need to be replaced though.
Same thing happened to me, I called the company, and they told me to remove the battery, press the on button for 5 seconds, which clears the system, replace the battery and do a long charge 12 hours. I'm in the process of doing that now.
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