Para descartar si esa rueda falla sigue este procedimiento partiendo del estado OFF. Se chequean sensores y motores independientemente. Te lo ha pasado LEPES. Si te llevas mal con el ingles tienes http://translate.google.es/?hl=es# o pregunta.

For MANUAL-ADVANCE mode: hold down the CLEAN and DOCK buttons and press
the SPOT button 6 times. Release buttons.
MANUAL-ADVANCE MODE
This is designed to be used for debugging particular sensors or actuators. In this mode, the robot DOES NOT decide PASS/FAIL for each test number. The test does not automatically advance, so sensors or actuators can be tested as many times as necessary.
In MANUAL-ADVANCE mode:
• Use the DOCK button to MANUALLY ADVANCE to the next Built-in-Test number.
• Use the SPOT button to go back to the previous Built-in-Test number.
• The CLEAN LED will always be GREEN.
• There is no pass or fail. If you advance past the last test number, the test number will wrap around to the first test.
BUILT-IN-TEST RESULT
When you get to the last test number, either by AUTO or MANUAL- ADVANCE:
1. If all tests PASSED, the CLEAN LED will BLINK FAST GREEN.
2. The robot can be powered off using the power button and will operate NORMALLY.
3. A serial cable and translation circuit can be used to connect the Roomba to a PC. Pressing the CLEAN button will cause the Roomba to transmit a summary of the test results through the serial port. These can be logged to a file. {Note : if using HyperTerminal, then select 115200 Bits and ‘none’ for Flow Control.}
If any test FAILED:
1. The CLEAN LED will BLINK FAST RED.
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2. The robot CANNOT be powered off and will not respond to any buttons until the
BATTERY IS REMOVED (do not do this unless the procedure calls for it).