Disclosed herein is an improved rotary drain cleaning machine having an improved support structure that prevents walking of the machine when in use. A brake clutch assembly is located on each axle with a planetary gear arrangement, a drive plate engaged to the planetary gear arrangement, a brake plate mounted on the corresponding axle and an engagement assembly disposed about the drive plate and the brake plate. In one embodiment, the method includes selecting a coordinate position represented in the LiDAR data that generated a return signal. The sensor is configured to send a signal based on a palpation of the palpation region of the housing. Other embodiments are disclosed. A timing determination device determines symbol timing from the integrated correlation.