Win XP CD Driver Problems

I tried installing Adaptec DirectCD onto my windows xp machiene, I knew it wasn't compatable but I've been able to download updates/patches for all other software so far, but I wasn't able to find updates for it. So I uninstalled it. Upon restarting my computer it said that drivers made by Adaptec were being disabled because of stability issues. I cannot find them any place to uninstall them on my computer. When I went directly to the file and moved it to my desktop and restarted it caused both my cd drives not to work properly, the drivers were corrupt. When I uninstalled DirectCD I took off all the shared files as well to make sure to get everything, but apparently I didn't. I'm running Windows XP (as mentioned before) with a HP 9500 series Burner on it. Anyone have any ideas on how to get rid of the message that says the driver has been disabled, or the problem driver itself? I'll provide more info as needed. Thanks.