code: public boolean cleanArea(int[] bottomLeft, int[] topRight, int passes) throws CommandExecutionException {
          if (bottomLeft == null || topRight == null || passes < 1) throw new CommandExecutionException(CommandExecutionException.Error.INVALID_PARAMETERS);
          if (bottomLeft.length != 2) throw new CommandExecutionException(CommandExecutionException.Error.INVALID_PARAMETERS);
          if (topRight.length != 2) throw new CommandExecutionException(CommandExecutionException.Error.INVALID_PARAMETERS);
          JSONArray payload = new JSONArray();
          payload.put(bottomLeft[0]);
          payload.put(bottomLeft[1]);
          payload.put(topRight[0]);
          payload.put(topRight[1]);
          payload.put(passes);
          JSONArray wrapper = new JSONArray();
          wrapper.put(payload);
          return sendOk("app_zoned_clean" , wrapper);
      }
docs: Clean the specified area on the map.
  @param bottomLeft The bottom left position of the area in millimeters. 25600 millimeter both in x and y is the center of the map. The origin of the map is 0 millimeters in x and y.
  @param topRight The top right position of the area in millimeters. 25600 millimeter both in x and y is the center of the map. The origin of the map is 0 millimeters in x and y.
  @param passes The number of times to clean this area.
  @return True if the command has been received correctly.
  @throws CommandExecutionException When there has been a error during the communication or the response was invalid.