I am not sure the rotor actually stops, it would seem that the motor is just turning so slowly that the speed of the wheels is slower than the cars ground speed, so the tires are just sliding on the surface.
I think ABS would be pretty "easy" to program, even in a sensorless setup. I think everything you would need to know is already there.
Brian do you remember where that post was, it's been a while since I read it?
Jeff
Nevermind I found it.
http://www.rc-monster.com/forum/show...0&postcount=57