diff --git a/controller_teensy/src/main.cpp b/controller_teensy/src/main.cpp
index 0b81873..0368d5b 100644
--- a/controller_teensy/src/main.cpp
+++ b/controller_teensy/src/main.cpp
@@ -34,7 +34,7 @@ bool controllerRear_connected=false;
 bool controllers_connected=false;
 
 #define PIN_THROTTLE A7
-const uint16_t calib_throttle_min = 400; //better a bit too high than too low
+const uint16_t calib_throttle_min = 420; //better a bit too high than too low
 const uint16_t calib_throttle_max = 790;
 const uint16_t failsafe_throttle_min = 20; //if adc value falls below this failsafe is triggered
 const uint16_t failsafe_throttle_max = 1000; //if adc value goes above this failsafe is triggered
@@ -66,8 +66,8 @@ float currentConsumed=0; //Ah
 
 //Driving parameters
 int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant amount when freewheeling/braking
-int16_t brake_cmdreduce_proportional=100; //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=brake_cmdreduce_proportional / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
-float startbrakecurrent=3; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
+int16_t brake_cmdreduce_proportional=200; //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=brake_cmdreduce_proportional / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
+float startbrakecurrent=2; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
 float startbrakecurrent_offset=0.1; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
 
 
@@ -366,6 +366,7 @@ void writeLogHeader(HardwareSerial &SerialRef) {
   SerialRef.print("rpm_FrontL,rpm_FrontR,rpm_RearL,rpm_RearR,");
   SerialRef.print("temp_Front,temp_Rear,vbat_Front,vbat_Rear,");
   SerialRef.println("currentAll,throttle,brake,speed,trip,currentConsumed");
+  SerialRef.println("Reduced ducking. More phase advance");
 }
 
 void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake)
@@ -415,6 +416,7 @@ void readADC() {
   throttle_pos=max(0,min(1000,map(throttle_raw,calib_throttle_min,calib_throttle_max,0,1000))); //map and constrain
   brake_raw = analogRead(PIN_BRAKE);
   brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
+  //brake_pos = (int16_t)(pow((brake_pos/1000.0),2)*1000);
 
   int16_t throttlebreak_pos = throttle_pos-brake_pos*2; //reduce throttle_when applying brake
   throttle_pos=constrain(throttlebreak_pos,0,1000);
@@ -506,12 +508,13 @@ void sendCMD() {
   float startbrakecurrent=3; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
   float startbrakecurrent_offset=0.1; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
   */
+  int16_t brake_pos_expo = (int16_t)(pow((brake_pos/1000.0),2)*1000);
 
   float brakepedal_current_multiplier=startbrakecurrent/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
 
-  int16_t cmdreduce_constant=map(brake_pos,0,1000,0,(int16_t)(brake_cmdreduce_proportional*SENDPERIOD/1000)); //reduce cmd value every cycle
+  int16_t cmdreduce_constant=map(brake_pos_expo,0,1000,0,(int16_t)(brake_cmdreduce_proportional*SENDPERIOD/1000)); //reduce cmd value every cycle
 
-  float freewheel_current=startbrakecurrent_offset-brake_pos*brakepedal_current_multiplier; //above which driving current cmd send will be reduced more. increase value to decrease breaking. values <0 increases breaking above freewheeling
+  float freewheel_current=startbrakecurrent_offset-brake_pos_expo*brakepedal_current_multiplier; //above which driving current cmd send will be reduced more. increase value to decrease breaking. values <0 increases breaking above freewheeling
   float freewheel_break_factor=500.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (on average)
   motorparamsFront.filtered_curL=filterMedian(motorparamsFront.curL_DC)/50.0; //in Amps
   motorparamsFront.filtered_curR=filterMedian(motorparamsFront.curR_DC)/50.0; //in Amps
@@ -530,20 +533,26 @@ void sendCMD() {
       cmd_send-= max(0, (filtered_currentAll-freewheel_current)*freewheel_break_factor*(SENDPERIOD/1000.0)); //how much current over freewheel current, multiplied by factor. reduces cmd_send value
     }
     cmd_send-=max(minimum_constant_cmd_reduce,cmdreduce_constant); //reduce slowly anyways
-    cmd_send=constrain(cmd_send,0,1000);
+    
   }
 
   if (!controllers_connected || !armed) { //controllers not connected or not armed
     cmd_send=0; //safety off
   }
 
+  cmd_send=constrain(cmd_send,0,1000);
+
   last_cmd_send=cmd_send;
 
+  int16_t cmd_send_toMotor=constrain(cmd_send-(brake_pos*0.2),0,1000);
+
+
+
   //apply throttle command to all motors
-  motorparamsFront.cmdL=cmd_send;
-  motorparamsFront.cmdR=cmd_send;
-  motorparamsRear.cmdL=cmd_send;
-  motorparamsRear.cmdR=cmd_send;
+  motorparamsFront.cmdL=cmd_send_toMotor;
+  motorparamsFront.cmdR=cmd_send_toMotor;
+  motorparamsRear.cmdL=cmd_send_toMotor;
+  motorparamsRear.cmdR=cmd_send_toMotor;
 
   if (controllers_connected) {
     SendSerial(CommandFront,motorparamsFront.cmdL,motorparamsFront.cmdR,Serial2);