Why does my Roomba beeping and 12 white circles followed by red circle

I was gone for a couple days and my Roomba got stuck in an area it doesn't normally go to. Since then I can not get it to work. The lid circles white 12 times then has a lower and higher beep. Then lid then goes red for about 4 seconds. The cycle then repeats until I remove the battery. I have removed the left and right wheels and even the front bumper and still continues with the same pattern. At one point I got an Error 24 message and no reporting since. Any suggestions as to what is the solution or other things to try resolve this?