Ok well I used to have an intermittent ABS light being thrown, first once a week, then every other day / journey etc... Recently it had been on constantly, apart from one occasion after some motorway driving and heavy braking when it decided to go off?.
Now when I check the codes it has 51 - Motor Lock, and 53 - Motor Stuck ON.
I also seem to have a slightly warped disk I think as when you heat the brakes up too much you will hear a rubbing noise from one of the front wheels which then goes away. Could this have interfered at all?
Any advice would be great! I have found this guide which I will show to my mechanic when I finally get some money together

Thanks, William.