[s-cars] Battery, Brake and ABS lights on. Braking almost nonexistent.

[J R]

My 93 S4 has been acting up lately.  I have the battery, brake and ABS
lights lit up.  I'm sure if I keep the car running, the battery will run out
completely.  When I hit the brakes, the pedal is hard as a rock, has very
little travel and the car is very very difficult to stop.  I have a solid 26
volts from the battery and a solid 15.6 volts off of the back of the
alternator.  Brake fluid res and power steering res levels are fine.  Anyone
have any ideas?