diff --git a/controller_teensy/src/main.cpp b/controller_teensy/src/main.cpp
index edbace6..bb91f09 100644
--- a/controller_teensy/src/main.cpp
+++ b/controller_teensy/src/main.cpp
@@ -452,51 +452,53 @@ void failChecks() {
 }
 
 void sendCMD() {
-  int16_t cmdreduce_constant=map(brake_pos,0,1000,0,10); //reduce cmd value every cycle
-    #define MAXBREAKCURRENT 5
-    float brakepedal_current_multiplier=MAXBREAKCURRENT/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
+  #define BREAK_CMDREDUCE_CONSTANT 500 //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=BREAK_CMDREDUCE_CONSTANT / 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)
+  int16_t cmdreduce_constant=map(brake_pos,0,1000,0,(int16_t)(BREAK_CMDREDUCE_CONSTANT*SENDPERIOD/1000)); //reduce cmd value every cycle
+  #define STARTBREAKCURRENT 5 //Ampere. at what point to start apply brake, proportional to brake_pos.
+  #define STARTBREAKCURRENT_OFFSET 0.1 //offset start point for breaking, because of reading fluctuations around 0A
+  float brakepedal_current_multiplier=STARTBREAKCURRENT/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
 
-    float freewheel_current=0.1+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_break_factor=500.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (in average)
-    motorparamsFront.filtered_curL=filterMedian(motorparamsFront.curL_DC)/50.0; //in Amps
-    motorparamsFront.filtered_curR=filterMedian(motorparamsFront.curR_DC)/50.0; //in Amps
-    motorparamsRear.filtered_curL=filterMedian(motorparamsRear.curL_DC)/50.0; //in Amps
-    motorparamsRear.filtered_curR=filterMedian(motorparamsRear.curR_DC)/50.0; //in Amps
+  float freewheel_current=STARTBREAKCURRENT_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_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
+  motorparamsRear.filtered_curL=filterMedian(motorparamsRear.curL_DC)/50.0; //in Amps
+  motorparamsRear.filtered_curR=filterMedian(motorparamsRear.curR_DC)/50.0; //in Amps
 
-    float filtered_currentFront=max(motorparamsFront.filtered_curL,motorparamsFront.filtered_curR);
-    float filtered_currentRear=max(motorparamsRear.filtered_curL,motorparamsRear.filtered_curR);
+  float filtered_currentFront=max(motorparamsFront.filtered_curL,motorparamsFront.filtered_curR);
+  float filtered_currentRear=max(motorparamsRear.filtered_curL,motorparamsRear.filtered_curR);
 
-    filtered_currentAll=max(filtered_currentFront,filtered_currentRear);
+  filtered_currentAll=max(filtered_currentFront,filtered_currentRear);
 
-    if (throttle_pos>=last_cmd_send) { //accelerating
-      cmd_send = throttle_pos; //if throttle higher than apply throttle directly
-    }else{ //freewheeling or braking
-      if (filtered_currentAll<freewheel_current) { //drive current too high
-        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(1,cmdreduce_constant); //reduce slowly anyways
-      cmd_send=constrain(cmd_send,0,1000);
+  if (throttle_pos>=last_cmd_send) { //accelerating
+    cmd_send = throttle_pos; //if throttle higher than last applied value, apply throttle directly
+  }else{ //freewheeling or braking
+    if (filtered_currentAll<freewheel_current) { //drive current too high
+      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(1,cmdreduce_constant); //reduce slowly anyways
+    cmd_send=constrain(cmd_send,0,1000);
+  }
 
-    if (!controllers_connected) { //controllers not connected
-      cmd_send=0; //safety off
-    }
+  if (!controllers_connected) { //controllers not connected
+    cmd_send=0; //safety off
+  }
 
-    last_cmd_send=cmd_send;
+  last_cmd_send=cmd_send;
 
-    //apply throttle command to all motors
-    motorparamsFront.cmdL=cmd_send;
-    motorparamsFront.cmdR=cmd_send;
-    motorparamsRear.cmdL=cmd_send;
-    motorparamsRear.cmdR=cmd_send;
+  //apply throttle command to all motors
+  motorparamsFront.cmdL=cmd_send;
+  motorparamsFront.cmdR=cmd_send;
+  motorparamsRear.cmdL=cmd_send;
+  motorparamsRear.cmdR=cmd_send;
 
-    if (controllers_connected) {
-      SendSerial(CommandFront,motorparamsFront.cmdL,motorparamsFront.cmdR,Serial2);
-      SendSerial(CommandRear,motorparamsRear.cmdL,motorparamsRear.cmdR,Serial3);
+  if (controllers_connected) {
+    SendSerial(CommandFront,motorparamsFront.cmdL,motorparamsFront.cmdR,Serial2);
+    SendSerial(CommandRear,motorparamsRear.cmdL,motorparamsRear.cmdR,Serial3);
 
-      log_update=true;
-      //Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000);  Serial.println()
-    }
+    log_update=true;
+    //Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000);  Serial.println()
+  }
 }