I have a freeform pool that is somewhat kidney-shaped. It is pretty standard with a 4' shallow end that tapers gradually down to about 9' in the deep end. My 280 cleans the heck out of the deep end, but it doesn't want to spend much time in the shallow end. I'm afraid that it has alot to do with the shape of the pool. When it comes up toward the shallow end (usually coming up from the deep end along the outside wall of the pool), the concave part of the kidney shape guides the unit diagonally across to the other side. Most of the time, it seems to hit the other wall and then continue to turn counterclockwise and head right back down to the deep end. Does anyone have any ideas to get better coverage in the shallow end?