I had to hit the brakes hard one night to miss a cat. When I did, the brake warning light came on, not the ABS light, the same one that comes on when you apply the emergency brake. It now comes back on every once in a while when using minor braking, and sometimes turning. Is this a emergency brake problem(like the rear drum needing replacement)?

Have you checked your brake fluid level? Only 2 things onjust the red brake light the parking brake and low fluid.