ABS Problem

My ABS light came on the other day, so I started reading all the abs threads. I understand that the light could come on because of a bad sensor or hub, but I checked both hubs and they dont look bad. I haven't checked the sensors yet, mainly because I don't know how other than getting a new sensor, and replacing the sensors until I pin point the problem. I'm kind of hesitant to get a new sensor and do this because my abs still kicks in, like it normally should... I was wondering if bad brake pads and rotors could enable the abs light? My brakes don't look terrible, but could be replaced in the near future. I figured yall could help me from spending a bunch of money lol thanks!

I drive a 2004 Mazda B4000 4X4