Is your amber dash light coming on and staying on before you start to move the car, or only after you get up to 15 MPH or so?
I had some similar problems (see the other posts from earlier in the week), and got a number of codes, but it ended up being the one sensor bad (the last code refering to the RH sensor).
My light would only come on after getting up past 15 MPH, but would continually stay on after that. The light would come on, and the brakes would pump for a few seconds, then would stop cycling (and the brakes would work fine, just with no anti-lock) till I shut the car off and restarted. It would then do it all over again.