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

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.

Asked by for the 2000 Ford Escort
no warning sensor but float in master cyl may be stuck and turning on light
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no warning sensor but float in master cyl may be stuck and turning on light