After upgrading from an older Roomba - we were super excited to get the S4. However, no matter how many configurations I create for the rooms - the S4 just spins and spins when it's not on hardwood. It spins on completely flat rugs. It spins on carpet (which I don't consider very thick at all.) I am really wanting to return this thing and just get a newer roomba. What can I do to actually get this thing to work the way it should? Thanks!