ABS Brake Light Comes on
 

I am getting a bit flustered here with this. I've replaced all my brakes, including the springs in the rear trying to get rid of this issue. Today I was kind of in a flexing situation, completely stopped and noticed my ABS light came back on. I've taken the sensor out of the rear end and cleaned it, my front sensors aren't dirty that I know of. Wheel Bearings aren't loose or making no noise. Rear Axles are okay. What could this be? It seems to disable my ABS braking system till I start and restart the truck, in which it just comes back on the moment there is any brake slippage. I'd prefer my ABS because when I slam my brakes down the floor it locks up and scoots, rather then the nice subtle stop I got before.

What could this be? Any suggestions?