From the sound of it, your lining is gone and you are now destroying your rotors/drums.
I went to stop not to beat the yellow so I stepped on the brake pedal hard and now the brakes sound like they are grinding or rubbing noise. It seems to make this noise when I'm going or stopping- Anybody can help me sort this out let me know -Anthony
My ABS system has been change over and repaired due to the recall!