1998 Volvo S40 ABS light, Noise while breaking and sometime

Hullo experts,
My name is Mathias, Got my driving shafts replaced with used ones but after then had my ABS warning light sometimes on right after self diagnostics and at times off but comes up a few minutes later. When I attept to break, the ABS kicks out so much that the pedal hardens, feels shaky and makes a sharply-groaning noise and the car stop unless you exert alot of pressure or release the pedal abit and press it again. It is so funny that this happens at loww speeds.