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Does a warning light come on when I need to replace my brake pads? on 2000 Ford Escort

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2 weels ago my mechanic told me my pads were getting thin and would need to be replaced soon. The brake warning light came on last night and won't turn off. I checked my fluid, it's dirty but full. The master cylinder is full as well. I just want to know if it's still ok to drive my car and how many miles I should still have left. I'm not hard on my breaks either.
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