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means your brakes are malfunctioning... possibly the ABS sensors are covered in crap and you need to clean them ( located in the wheel hubs under the disks i believe?
i doubt the pads are worn if you cant feel them through the pedal, anyways there is a small sensor that sticks through a plate on the axle tube and there is some thing that is on the axle (dont know what it called) that is round but it's got grooves all the way around it, what gufi said is probably right, there is crap on the sensor it self because it is magnetic if you did know that already, just pull you wheels off and look for the sensor there might be metal shavings covering it....
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