I have a 2000 c230 kompressor and my brakes are very bad. Today, I was on the highway and I tried to slow down and my brakes would stick and my car wouldn't stop and it wouldn't slow down. I slammed on my brakes and kept my foot on the brake and finally it slowed down and I managed to pull into a parking lot and stop and park. I was wondering what might cause this to happen? Also, a light comes on that says BAS/ESP and I don't know what it is.