Help with ABS ?

After my encounter with flying debris and shattered ABS sensors, the warning lights started flashing opposite each other and stay on. Changed the sensor, played with the shims and tried every gap measurement possible. Even disconnected the battery to see if that would reset anything. Still flashing. Any input or tribal knowledge about this condition would be welcomed warmly. My other option is to take it to the dealer and hope they don't rape me like a "Prison Princess".