High Idle and Check Engine Light?

Hi,
My '01 tacoma 4x4 with 2.7L engine/manual transmission goes into very high idle sometimes. I have to slap my gas peddle to get it to stop and then the check engine light comes on for about 50 miles or so. It's been doing this on and off for about 6 months. Any suggestions on what is causing this? I've had both O2 sensors replaced and it still does this.
Thanks

 

sounds like it could possibly be a bad crank position sensor or throttle position sensor.

 

Is there any way a mechanic can test for this? It doesn't do it all the time.
Thanks for the help

 

Next time the cel goes on.......go on to autozone and get them to pull the code. It'll be easier to diagnose that way.

 

Thanks. I'll do that.