Our 2001 Prius was working fine one day and the next morning when I tried to take my wife to work. The warning light was on and I also could not drive it in reverse. A buddy of mine had to help me push it out of the driveway so he could get out! And I drove it back in and put it in the garage. Upon further inspection today, when the key is turned halfway, i noticed a low whirring noise of something trying to turn but it seemed to be stuck. I turned the car on fully and the the dash said the problem was solved! However the check engine light is still on. And when I turn the key halfway now that low, stuck whirring noise is no longer there. I assume my first step to resolving this is to get a readout of the warning codes? How would I go about getting them from the dealer? How much should I expect to pay? Do they give them out willingly? Or is there something special I have to do? Thanks in advance for your expertise!