The 2006 procedure is exactly the same as the 2005 procedure. After you set the team number switches on the OI, you have to connect to the RC with a physical tether cable, then reset the RC, in order for the robot to "take" that number.
If the leftmost team number switch is set, making the team number between 2048 and 4095, then the channel switches are enabled. I think that the channel is only changed when the OI is reset.
Code:
1 2 3 4 Channel
X ON ON ON 04
X ON ON OFF 13
X ON OFF ON 22
X ON OFF OFF 31
X OFF ON ON 40
X OFF ON OFF 01
X OFF OFF ON 40
X OFF OFF OFF 40