Garage Cabinets, Garage Storage, and Garage Organization

I started my car today and once the fast idle kicked off the ASR light came on and wouldn't go out, I have read alot of post on this and they talk about holding brake, pushing micro switch under accel. pedal and turning off ARS before light comes on,

Nothing works except to not let RPM fall under 1000. I drove it for awhile in limp mode and cycled key switch at stop lights and still the second I take my foot off the pedal it comes right back on.

In limp mode it was running so lousy that it finally turned the check engine light on. I can scan the later models with OBD II connections but I don't have software for 95 models, can I reset computer with only diconnecting the battery?

Also a little backgroung on the car it has had no brake , tires or engine work done in quite awhile so this shouldn't be a result of previous work.

Any suggestions will be appreciated

Sorry I forgot to mention it's a 95 SL500 with 131K miles