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Help How Do I Access USB Modes Menu?

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Newbie
My USB icon only shows up in my status bar when I don't need to access the USB mode menu... go figure... How can I change my USB modes and find that menu? I mainly need to change to "charging only" due to some issues I'm having trying to charge my phone (you'd think you wouldn't have to do this).
Also, what is USB debugging? I know I had to turn it on when I rooted my phone but I had to turn it off the other day to get my phone to charge through USB. After the phone is rooted that can be turned off permanently right?
 
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