Confused Robot

My robot seems to be confused. When I ask it to clean (or do anything really) it gets in this mode where it won’t dock and then it thinks it’s on a cliff or the wheels aren't on the ground. I’ve cleaned the base, all the sensors have been cleaned, hair has been removed from vacuum section. I’ve deleted the map and even cleared the Cache and it still does it….
Here’s a short video of my issue.

Same thing happens when mop pads are installed.