I noticed today and for the past few times on my 02 Si that when I hit the brakes hard enough to get the ABS going it feels like the calipers are violently scraping the rotors. Isn't the brake pedal supposed to pulsate? It has the same feeling when my friend had a badly gouged rotor, but they look fine.

 

ttt

 

sounds like a pressure regulation problem to me.....I would definately get that checked out....