     g_lr = 0;
     cnt_runaway = 0;
     Vbat_MovingAve.init();
-    g_mode_4ws = 0;
+    g_steer_pol_f = 1;
+    g_steer_pol_b = 0;
 }
 
 // メインループ

#define LOW_BATTERY    512

// 四輪操舵のモード
static int g_mode_4ws;

// サーボの調整
static int g_servo_pol[3]; // 極性

     */
    case 'T':
        // 4WSモード
        switch(buff[3]){
        case '0':// FRONT
            g_steer_pol_f = 1;
            g_steer_pol_b = 0;
            break;
        case '1':// COMMON
            g_steer_pol_f = 1;
            g_steer_pol_b = 1;
            break;
        case '2':// REVERSE
            g_steer_pol_f = 1;
            g_steer_pol_b = -1;
            break;
        case '3':// REAR
            g_steer_pol_f = 0;
            g_steer_pol_b = 1;
            break;
        default:
            g_steer_pol_f = 1;
            g_steer_pol_b = 0;
            break;
        }
        // 値の解釈
        if( HexToUint16(&buff[1], &val, 2) != 0 ) break;
        sval = (int)((signed char)val);
