I can pick up the roomba and place it in the charger and it will charge and remove dirt from the bin. I can tell it to go...

In particular, this roomba version depends heavily on the roller due to its terrible fan motor. The rollers are designed to wear away so that they do not wear away your floors and carpet. This means you have to regularly replace them. A good sign that they need to be replaced is the Roomba does a terrible job at picking stuff up

It's the vacuum motor. The one they ship with is low quality. It has a short life when you take it out you will literally see parts of it broken off. Replacements can be found on Amazon