Every so often, & lately quite often, when I press down on the brake pedal, it feels choppy & my foot can feel a slight rotation/pulsation as the car slows. Is this a warped brake rotor? The ABS light came on last week as I was driving on the highway & was wondering if this is connected? It wasn't raining or extremely braking conditions when it came on so I wasn't quite sure. & also, do you know what repairs are involved in fixing the issue? I'd like to know my bases before I take my car into the repair shop & this forum has been the best! Any advice or assistance will be appreciated! Thank you!