We have all wood on first floor.  Looking for quick clean up tool.  The bare floor setting does a mediocre job of sucking up dust.  Carpet setting does a good job of cleaning crumbs/dusty stuff to freshen up rugs.  The disposal cup is nice and convenient.  The dust filter is a sponge like thing that seems like your could rinse out and reuse.

Recharges quickly and runs long enough for me to do the whole first floor without dying.  Carpet mode runs down faster.  The turning action works really well and can maneuver easily around furniture.