I just had my front rotors and brake pads replaced with a 1999 Chevrolet Monte Carlo with 156,000 miles. The next day the alternator went and I replaced that. When I got the car back the "BRAKE" light in the dash is on. There is plenty of brake fluid filled and the brakes work great. I wanted to know if this just a sensor issue or what that light indicates.
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The front pads are worn down which makes the brake fluid fill up the void the brake pads are missing now due to wear. Replace the brake pads and brake rotors if the rotors are worn too, then top off the brake fluid if needed. You can top of the break fluid for now, but that's just going to turn off your break light warning till you breaks wear it self down to the point you damage the brake rotors.
Have the brake pads replaced and inspect the brake rotors, if your good with common tools you can do this job your self in under 1 hour. Tools you need is a jack, 15mm socket, ratchet, screw driver and a clamp. The Clamp is optional, you can get the brake pads at Auto Zone and they can give you the step by step instructions to getting the job done. Keep me posted, be glad to answer any questions you may have and good luck.
Try having the dealer flush and bleed your system. It is very hard to bleed ABS systems yourself and have safe brakes that still work afterward. Bleeding non-ABS brakes yourself is easy not the same for ABS brakes. Valving, sensors and what-not require a tech and the correct equipment in my opinion. You do it wrong and you could ruin your ABS system. Do that and see if they firm up. I replaced my brake shoes/pads at the same time all new everything in back, drums/springs everything and new rotors up front. then I had the chevy dealer flush, refill and bleed system. Stiffer pedal and brakes work better. Keep in mind the brakes on 99 Tahoes are inaedequate, require new rotors often, heat up and fade/glaze pads regularly. I replace my pads long before they wear down because they glaze up and start fading early. I'll rough em up once maybe, next time, new ones. Every two brake jobs, new rotors for me. Just how it is. They will stiffen a bit and work better but they will never be awesome brakes. Just how it is on 99 and earlier Tahoes. Hope it helps. Very important to bleed correctly though. I'll bleed my 83 Toyota 4x4 myself but not the Tahoe.