Cleaning Logic
1. Cleaning scope: Pool bottom, pool wall waterline, and water surface — customizable.
2. Number of cleaning cycles: 1 or 2 times and it is customizable.
Overall logic: Total cleaning = number of cycles × single cleaning logic.
--Single pool bottom cleaning logic:
A. If mapping succeeds: one round of edge-following + S-pattern cleaning.
B. If mapping fails: one round of DeepSense cleaning.
--Single pool wall cleaning logic:
One round of N-pattern wall cleaning.
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