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you will need a brake adjustment tool it looks like a bent up screwdriver under the car looking at the back of the tire by the way the car must be jacked up with the front wheels blockd the adjuster is at the bottom you will find the hole has a rubber plug remove it put the brake adjustment tool in that hole and you will feel the teeth its a up and down motion put it in at the bottom and pull down un till you can feel the brake touching the drum then put the rubber back then do the other side hope this helped good luck bob
It does not sound like air in the system or the pedal would pump up. I would tend to lean towards the brakes may need an adjustment and also the an adjustment to the rod at the master cylinder. You were very observant in noticing a change as that. You are correct in that the pedal should not travel so far as to be near the floor, this can cause an unsafe condition. Have this problem attended to soon to be safe.
brake seem to tighten when applied? out of adjustment? rear disk or drum brakes? if disk it might be built into the caliper like mine and the calipers can go bad so they wont set or is drums shoes worn or out of adjustment?
if they are disk brakes, they are not adjustable. if they are drums they should auto adjust. if they are not, then there is a problem that you have to pull the tire, then the drum, to diagnose it. you may have to disassemble the brake shoes and springs, and clean and lube the self adjusters
Your brake light switch is adjusted in all the way and is pressing on the brake pedal. This causes the brake to be slightly applied. As you drive the vehicle the brake fluid heats up and expands, the brakes will apply more and more until you see the smoke. Bottom line: your brakes are always applied at the master cylinder because something(usually the brake light switch) is out of adjustment.