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After downloading a new program to the controller, you need to reset your robot controller (pushing the "robot reset" button will do, as well as simply turning the robot off then back on again).
Also, One of the programmers on our team was using a laptop with Windows 2000 to program the robot. We had to disconnect the cable from the program port when we wanted to run the new program. On a Windows 98/95 system, disconnecting hasn't been necessary. (I don't know what would happen if we tried Windows Me, or XP)
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