When you get that pulsating in the pedal the ABS is working. If you only depress the brake halfway then your only using half your brakes. Yes it feels like it only wants to go halfway but if you really press on it hard you will stop quicker. However once you get used to when the ABS will kick in you can brake better by using your brakes up 'till the ABS would kick in. If the ABS kicks in you should be able to steer still (somewhat) It helps if your about to rear end someone and your trying to brake but the last second you can still hit the ditch/berm while you are braking instead of skidding straight into the car in front of you.