iRobot Roomba 4210 Bagless Robotic Vacuum "power wheel new battery goes" Questions

...new battery, still doing same thing. Wheels look clean Roomba going in circles. Called irobot and if reseting it (by taking out the battery, unplugging it from the charger, and holding down the power ...

...new battery, any suggestions? The best for the battery if (NiMH). Discharge completly, than charge full (charge more even the charger indicates full charge) Clean every part, maybe a hair slow down ...