I started getting the error 201 after our battery level was getting down below 50% and it would only go in slow mode until we charged it back up. It has become much worse now and is throwing the code when the battery gets down to 90% charge. If I fully charge the battery, everything runs just as it should. Do I have a bad battery possibly? All connections seem fine and I changed out the two contactors up top under the console with no change.