Yes, it is well written in the sense that a diyer can understand. He has other systems diagnostics that are as good.

One can see from this article how a Scope makes ABS/ASR sensors reading
the way to go..anything short of seeing the signal as the computer sees it leaves too much guesswork. One can also now understand why there are so many slow speed/coming to a stop abs activation faults. Inductive sensors loose their sensitivity and output at low speeds and that is where a system fault will first pop it's head.