Yes the bike is under warranty use it if you need to. The check engine light will stay on when there is a code stored in the memory. Clear the code, the check engine light will go off, if the light come on again then there is a problem with the bike so take it to the dealer. The code that is showing may not have anything to do with the idle problem. Try cycling the main ignition switch 5 times making sure the check engine light turn off on each cycle. Doing the ignition cycle WILL reset the idle back to factory settings.
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08 FLTR candy red sunglo,with 2015 103 HO, V&H Dresser Duals with Monster Rounds, Power Vision tuner, Willy Shiny Wheels and Forks and a bunch of other stuff.