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First thought is that if you have a judder from the brakes you may have a warped front disc. The ABS system sensor may be picking this judder up and converting it to a fault.
A warped disc would spin and catch then spin and catch again rather like the rapid on/off braking that ABS does. This 'could' be the judder you feel and should be especially noticeable when braking and barely noticeable when driving with the brakes completely off.
id check your caliper to see if the piston is compressing all the way if not check your fluid it should be clean not brown or if you have been through large amounts of water if it has gotten into the brake system and check your bleeder valve to check if it has rotted or come lose or if you have a break in the lines or air, most likely your caliper is failing to compress.
How hard are you stepping on the brake pedal? What you are describing sounds like the ABS system activating. When you step on the pedal hard enough to engage the ABS the light will come on, in some cars it will blink. You will also feel the thumping/vibration in the pedal since the system works by repeatedly engaging and disengaging the brakes. If it is happening when you step lightly on the brakes then you may have a bad wheel speed sensor or possibly a bad or miss-adjusted brake switch.
If the brake pedal goes to the floor with the car off, I would suspect air in the system or some other issue with the service brakes. If you feel and hear a growl in the pedal when it goes to the floor then your abs controller may be at fault. There are many possibilities. In either case if your pedal goes to the floor, then you are looking at a safety issue. Generally the service brake system (regular brake system) is the fault and not the abs. I have however seen a sticking dump valve or faulty wheel speed sensor cause an abs issue. Start with the basics first. Leaky wheel cylinders/ calipers, brake lines, or master cylinder. Verify the hydraulic integrity of the service brakes before tackling an abs issue.
Most likely cause is out of round brake rotors.
They will need to be resurfaced or replaced to correct the pulsation you feel in the pedal.
One other cause I can think of is the ABS (anti lock brake system) is activating due to possibly a bad wheel speed sensor.
You can disconnect the power connector at the ABS control unit and road test the vehicle.
If the pulsation is still there than it is not an ABS problem.
Hey there..my name is Keith..and you have 2 problems..from my expierence..your brake light problem is usually caused by the switch either bad or loose on the back side of your brake pedal..and your ABS light is uaually caused by a bad sensor in your brakink system that needs to be checked out by a shop..unless you are able to troubleshoot and figure out which sensor is at fault..i hope i helped..if not feel free to write back
have you check? the master cylinder. sometine when you get the rotors cut they dont come out right because they may be warped or to thin. if you did the job yourself you might have put the calipers in on the wrong side. this happens alot . if your rotors front and rear are fine then switch the calipers to the other side.