it is your anti lock break system it is fighting you need to take it to a dealer and have them fix it. if you dont your breaks can fail because the anti lock system can prevent you from fully applying the break and you might have an accident
your break pads are shot and your ruining your rotors.break pedal pushes up because the calipers arepushing out to far because there probally is no break pads left fix it now easy job
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