     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

        if(drive_mode == MODE_CAR)
        {
            servo_ctrl(0, sval);
            servo_ctrl(1, sval);
            servo_ctrl(2, g_mode_4ws * sval);
        }
        // 戦車モードの場合
        else

     */
    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);
