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Replacing your idle air control motor will more than likely fix your idle problem. If not, you may have a vacuum leak. As for poor fuel mileage, there are many things that affect that: tire pressure, driving habits, worn ignition parts, use of A/C, poor vehicle alignment, etc.
A drive cycle is a test that the on board computer performs while you drive the car to prove out all the systems on the car that control tailpipe emissions, if it finds a problem it will trigger a check engine light and and the drive cycle will not complete. The correct name of this is the "OBD2 ELECTRONIC ENGINE CONTROL DRIVE CYCLE TEST". "OBD2" is short for On Board Diagnostics generation 2. The test is just driving the car at various speeds, stop and go traffic and idle time, make sure you have at least 5 gallons of gas in the tank as well. Many folks disconnect the battery to clear a Check Engine light when a smog is due, this resets the computer (known as the PCM) and then you must complete a OBD2 drive cycle, which of course will turn the Check Engine light back on.