The present invention relates to a method 400 and a system 100 for controlling a robotic garden tool 202 around a working area 204 in a boundary wire aided system. The reversible gerotor type lubrication pump includes a rotor driven by the input shaft, and an impeller, both disposed within a pump body coupled to a side gear drivingly connected to the output shaft. The first end ring has a perimeter that is substantially congruent with the first end, and is configured to maintain a shape of the barrel. Furthermore, the transceiver includes echo cancellation techniques to attenuate transmit noise in the receive signal path. The loop filter further includes a switched capacitor array configured to cause the initial capacitance to increase to the target capacitance in response to a digital feedback signal provided by the loop filter calibration module.