I change/flush the brake fluid with DOT4 every time brake pads or shoes are changed. I figure I'm already there and it does not take that much time to get some new fluid in there. It's not really neccessary to use an ABS controller or to change out every last drop of fluid in the ABS pump/module. If you just use the normal 2 person bleed or some special 1 person setup for bleeding, you will still be getting nearly all the fluid out, except for a few cc's that will be trapped in the ABS secondary circuits of the pump/module. This old fluid will just mix with the much larger volume in the rest of the system the first time the pump is activated. A method I used in a pinch that requires no special tools: find a clean, regular spray bottle with a small diameter pickup tube. Slide the tube down in the reservoir however you can get it in there to the lowest point on each side. Then just spray the old fluid back into the bottle. It takes just a few minutes to nearly empty the reservoir of the old, hydrated fluid. Then pour in your DOT 4 fluid and bleed all 4 bleeders till fluid comes out the new, lighter color at each bleeder. Try to keep enough fluid in there to not suck it dry while bleeding. Refill reservoir and you've changed nearly 100% of the fluid in the system. Easy and cheap preventative maintenance for your ABS brakes.