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Read the 700/900 FAQ on this site, for the codes, and how to erase them. You don't need to disconnect the battery; you can erase them using a procedure that makes use of the button on the diagnostic unit.
The wheel sensor wire could be split somewhere, or there could be another problem. Cleaning the sensors won't hurt. Watch out for the o-rings on the sensors, to make sure they're seated properly. I usually grease the O-rings a little bit on reinstallation.
The 2-1-4 code is an RPM signal missing. It could be time to replace the crankshaft position sensor.
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chris herbst, near chicago
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