A system for braking a vehicle includes a rotor, a disc brake having an inner brake pad and an outer brake pad that are selectively clamped onto the rotor to slow or stop rotation of the rotor, a carrier coupled to the vehicle, a caliper housing movable coupled to the carrier, and an adjuster for moving the inner brake pad and/or the outer brake pad relative to the rotor, a first sensor for sensing linear movement of the caliper housing relative to the carrier housing, a second sensor for sensing rotary movement of the adjuster, and a control system that determines outer brake pad wear based on the linear movement of the caliper housing relative to the carrier and inner brake pad wear based on the rotary movement of the adjuster.