
They are drum brakes on the 240. They are not wet discs, they do not require splitting the tractor to service. The owner manual explains how to adjust them.
I would start by checking the adjusting rods for each pedal and make sure you have some threads left on those to adjust. and make sure they are resting on the stops, as in, your foot is off the pedals and in their current state, the pedal arms clink against the metal stops.
Then, I would make adjustments to the star wheels on each side and try to get 1" of free play on each pedal independently. After I got that pretty close, I would then use the rods on the pedals to fine tune it if I needed. The important thing is that there is free play, and each pedal travels the same distance before engaging so that when your pedals are locked together, each wheel stops the same and you don't have one wheel skid to a stop and the other do nothing. I try to test this by locking my pedals, driving in 1st high, and stepping on the pedal so the tractor skids. If I get both tires skidding about the same in the dirt, I'm happy.
From your owner's manual:

Email me at username @ gmail and I can send you the I&T Service Manual in PDF if you don't have it. I don't love these, but for many things like this, they are useful.