Q: New computer works fine, but the car is idling at 3000 rpm

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I just put in a new computer after my car died and was throwing code p0601 (pcm memory fault). I have no doubt the computer is working because the car runs once I put the new pcm in. But it's idling at 3000 rpm. Do I need to drive it to get the sensors reacquainted? When I put the car in drive the Rpms go to about 1600.

My car has 156235 miles.
My car has an automatic transmission.

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