Is there a version of the guide for the newer versions, past 2004? I only see the 2004 version posted on the IFI website (http://www.ifirobotics.com/docs/legacy/2004-programming-reference-guide-12-apr-2004.pdf)
Nope, nothing newer.
Nothing has really changed much as far as what that guide covers. The RC has more memory now, but the rest works pretty much as it did in 2004. The “print” stuff has some differences, and you now do have to hold down the PROG button on the regular RC to download a new program.
Meh. I didn’t think so, but it only takes the most minute of changes to cause problems. Never hurts to be sure.