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Traction control Light on . OBD code P0572


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I have a 2013 DJ, 4 cylinder.  Traction control Light is on. After driving for a while Engine light will come on. Using a bluedriver OBDII  I get the following codes . P0572 Brake Switch “A circuit Low - C0042 Brake Pedal sensor Circuit “A” Signal bias level out of range/zero adjustment failure. -  P1C4E ABS DTC Present.
If I clear the codes the Engine light goes out but the P0572 is permanent. After driving for a while Engine light will come back on. I changed the Brake position sensing switch but the problem was not fixed. 
The battery voltage was 12.4 volts. 14.5 volts with engine running.
Any suggestions on how to proceed ?
 

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