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Help Explanation please: relationship between kies and USB debugging

ninja2

Newbie
My goal is to develop an app in eclipse, test it on emulator first, then run it on my Samsung Galaxy S. I've got "Hello, Android" working in emulator OK, but the correct USB configuration to support testing on my SGS is proving very elusive.

I have done lots of reading over last few days, but I would appreciate an explanation of the relationship between the drivers in kies, Windows ActiveSync (I'm using XP SP2) and USB debugging mode on the SGS.

For example, it seems the drivers used for "Mass storage mode" are not same as for USB debugging mode?

This guide states the Google USB drivers only work on a short list of phones, not including SGS: USB Driver for Windows | Android Developers

It seems the drivers I need must comes from Samsung. If so, where are they?
 
I found out that if you have your phone plugged in while running an app from esclipse, it will automatically run on the phone instead of an emulator. Saves a lot of time.
 
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