Do you use PetSafe Wireless?

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A month ago, I bought the PetSafe Wireless in order to allow both my dogs to run around our yard, particularly on days when I cannot walk them. I spent time training them, and they're very receptive to the signal beeps that warn them get away from the boundary line, and they do in time before they are given a shock. Now here comes the kicker. They are both high energetic dogs, and one has a mental condition called impaired central nervous system (according to my vet), which means he cannot stay focused for very long and the littlest thing sets him off, even after a lot of exercise(I found out that if he runs around for six hours with five minute break intervals, he will sleep for eight hours. Any less than that, and he carries on as if he's had no exercise). Now at night and as long as there are no people walking their dogs in front of the house, they will stay in the yard. I can get the one to pretty much not go after anything, but if she sees him go, off she goes too to protect him. I have the collars set to six, recommended by the manufacturer for high energetic dogs, and the PetSafe Wireless is set on low to level 7. So there is a good distance away from the sidewalk, which it will start beeping if they try to get to the side walk. However, I've noticed that when one of the dogs is running rapidly, in hyperactive mode, he does not hear the beeping warning, nor feel the shock when he gets out of the boundary lines. Even worse, when he sees a dog going by, he breaks through it and runs across the street. He's actually come close to getting hit by a car, which has concerned me greatly. Have you experienced this with PetSafe? Were you able to solve it? If so, what did you do? I know my dog is pretty stable on his medication, but until I can afford it, I'm out of options. I walk him as much as I am able. Right now, it's one hour for each dog as walking them together isn't easy. I'd walk him a lot more if it wasn't for a pained foot. I also wanted to allow him the freedom to run around the yard since the landlord will not permit an entire chain-length fence. We cannot even put in an in-ground fence as he doesn't want the entire yard dug up. I will be buying a dog pen however, as spring has arrived and I don't want them cooped up, nor chained all day long, while walking them in the day, and letting them run about the yard at night. I would really love to be able to allow them both the freedom to run around the yard, but when I do, the one always escapes to go after a dog walking by, even if it is across the street. At this rate, I am not sure what to do. Any suggestions?