I have the Polaris 180 and was always struggling with it because it would go in circles in the deep end of the pool and not go up to the shallow end. I played around with the little jet in the back and that never helped. Finally, what worked was to move the direction of the hose that connects to the robot. My polaris would constantly run in circles towards the side with the one wheel. What I did was turn the hose towards the two-wheel side to the 4 oclock position from the normal 6 oclock position (i.e., if your looking from above and the two wheel side is on the right). Now it covers the entire pool.