Audi Repair: 1999 Audi A4/Quattro ABS Light On & Brakes, wheel sensors, audi a4

Question
Lately my 1999 Audi A4/Quattro ABS light goes on and off. At first I thought it was just the same kind of problem I had with my VW where the engine light would come on but nothing would be wrong with the engine, but lately when I hit the brakes, they act as though I am skidding, kind of stuttering or something, the braking isn't very smooth when I hit the brake pedal.

Any suggestions would be most appreciated! I am planning on taking it to the Audi guy, but I want to know perhaps if you had any suggestions on what it could be so I'm not blindsided.

Thank you so much!!! :o)

Answer
Sound slike a problem with the ABS unit itself, or perhaps with one of the wheel sensors.  The ABS unit when it detects a wheel locking, will pulse the brake action which you can feel as a trembling or vibration through the brake pedal.  Hopefully it will just be a wheel sensor that needs replacing.  Let me know what your mechanic says,  Jan