You can check your brake pads with the tires on the ground, but it’s a little easier while your bike is still up in the air. Plus, by rotating your wheels, you can check your rotors for warping. You’ll also want feel the surface of the rotor for any scoring, and visually inspect for glazing.
Note how much meat you have left on the pads and ensure that they are wearing evenly. Measure the remaining depth of the pad material against the spec in your service manual to be sure they’re still safe to run. Trying to use up every last bit of a brake pad is a short-sighted strategy because you risk trashing your rotors if you wear down to the backing plate, or worse, you'll fail to stop.
Take a look at your brake lines, as well, for any signs of wear or age. Rubber brake lines don’t last that long, so even if your bike is only five or 10 years old, they might be ripe for retirement. New stainless steel lines will improve brake feel and control considerably. Brake fluid is even more commonly neglected than lines. Check your manual for a replacement interval for the fluid.
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