I bought this because I hated paying the same price for a roomba that wouldn’t map. Thankfully this one never gets stuck which I enjoy. I bought the one with the self-emptying feature, but didn’t know that the feature would not work with the vac and mop bin. I also am bummed at the technical side of things. It’s impossible to search how to do things within the app like it leads you to believe you can. It didn’t come with great instructions in the app features, either. And although some have said you can, I still have yet to determine if the machine can map two levels. Machine is good, app technology is bad (or confusing).