diff --git a/controller/controller.ino b/controller/controller.ino
index 282b1e9..3ff3bae 100644
--- a/controller/controller.ino
+++ b/controller/controller.ino
@@ -19,7 +19,10 @@
 //#define MAXADCVALUE 4095
 #define ADC_CALIB_THROTTLE_LOWEST 1900 //a bit above maximum adc value if throttle it not touched
 #define ADC_CALIB_THROTTLE_MIN 2000 //minimum adc value that should correspond to 0 speed
-#define ADC_CALIB_THROTTLE_MAX 3120 //maximum adc value that should correspond to full speed
+#define ADC_CALIB_THROTTLE_MAX 3110 //maximum adc value that should correspond to full speed
+
+#define ADC_CALIB_BRAKE_MIN 800 //minimum adc value that should correspond to 0 speed
+#define ADC_CALIB_BRAKE_MAX 2400 //maximum adc value that should correspond to full speed
 
 #define PIN_STARTLED PA0 //Red LED inside Engine Start Button. Powered with 5V via transistor
 uint8_t startled=0;
@@ -67,10 +70,15 @@ long state_modechange_time=0;
 
 long millis_lastadc=0;
 #define ADC_READTIME 10 //time interval to read adc (for filtering)
-#define ADC_THROTTLE_FILTER 0.2 //low value = slower change
+#define ADC_THROTTLE_FILTER 0.4 //low value = slower change
+#define ADC_BRAKE_FILTER 0.4 //low value = slower change
+  
 int adc_throttle_raw=0; //raw throttle value from adc
 float adc_throttle=0; //filtered value
 
+int adc_brake_raw=0; //raw throttle value from adc
+float adc_brake=0; //filtered value
+
 uint16_t out_speedFL=0;
 uint16_t out_speedFR=0;
 uint16_t out_speedRL=0;
@@ -209,6 +217,7 @@ void loop() {
   ledUpdate();
   
   modeloops();
+  
 
   if (loopmillis - last_send > SENDPERIOD) {
     last_send=loopmillis;
@@ -264,7 +273,11 @@ void handleInputs()
   if (loopmillis-millis_lastadc>ADC_READTIME) {
     adc_throttle_raw = analogRead(PIN_THROTTLE);
     adc_throttle = adc_throttle*(1-ADC_THROTTLE_FILTER) + adc_throttle_raw*ADC_THROTTLE_FILTER;
-    if (adc_throttle_raw >= ADC_CALIB_THROTTLE_MIN) { //throttle pressed
+  
+    adc_brake_raw = analogRead(PIN_BRAKE);
+    adc_brake = adc_brake*(1-ADC_BRAKE_FILTER) + adc_brake_raw*ADC_BRAKE_FILTER;
+    
+    if (adc_throttle_raw >= ADC_CALIB_THROTTLE_MIN || adc_brake_raw >= ADC_CALIB_BRAKE_MIN) { //throttle or brake pressed
       millis_lastchange=loopmillis; 
     }
     millis_lastadc=loopmillis;
@@ -276,8 +289,6 @@ void handleInputs()
 }
 
 void handleModeChange() {
-  
-
   if (currentmode==requestmode) { //## Not currently changing modes ##
     switch (currentmode) { //mode dependant
       case booting: //on startup.  active while start button is still pressed
@@ -335,7 +346,7 @@ void handleModeChange() {
             //Hoverboard powering
             switch(state_modechange) {
               case 0: 
-                if (requestmode==on && adc_throttle > ADC_CALIB_THROTTLE_LOWEST) { //requested to turn on but throttle is pressed
+                if (requestmode==on && (adc_throttle > ADC_CALIB_THROTTLE_LOWEST || adc_brake > ADC_CALIB_BRAKE_MIN) ) { //requested to turn on but throttle or brake is pressed
                   state_modechange=0;
                   requestmode=currentmode; //abort modechange
                   //TODO: led show aborted modechange
@@ -427,6 +438,8 @@ void handleModeChange() {
 void modeloops() {
   if (loopmillis - last_looptime >= LOOPTIME) {
     last_looptime=loopmillis;
+    //loop_test(); //for testing (adc calibration prints). comment out following switch case
+    
     switch (currentmode) { //mode changes
       case booting: 
         break;
@@ -452,16 +465,16 @@ void loop_idle() {
 
 void loop_on() {
   int _maxspeed=1000;
+  int _maxbrake=400;
   if (MODESWITCH_DOWN) {
     _maxspeed=200;
+    _maxbrake=200;
   }
-  int16_t speedvalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, _maxspeed ) ,0, _maxspeed);
-  /*int16_t lastSpeed=(out_speedFL+out_speedFR+out_speedRL+out_speedRR)/4;
-  
-  if (speedvalue<=lastSpeed) { //braking
-    speedvalue = (lastSpeed-speedvalue)>MAXBRAKERATE ? (lastSpeed-MAXBRAKERATE):speedvalue;
-  }*/
-  
+  int16_t throttlevalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, _maxspeed ) ,0, _maxspeed);
+
+  int16_t brakevalue=constrain( map(adc_brake, ADC_CALIB_BRAKE_MIN, ADC_CALIB_BRAKE_MAX, 0, _maxbrake ) ,0, _maxbrake); //positive value for braking
+
+  int16_t speedvalue=throttlevalue*(1- (((float)brakevalue)/_maxbrake)) - (brakevalue*(1- (((float)throttlevalue)/_maxspeed)) ); //brake reduces throttle and adds negative torque
 
   out_speedFL=speedvalue;
   out_speedFR=speedvalue;
@@ -472,7 +485,26 @@ void loop_on() {
 
 void loop_error() {
   out_speedFL=out_speedFR=out_speedRR=out_speedRL=0; //stop motors
-  Serial.print("Error:"); Serial.println(errormessage);  
+  Serial.print("Error:"); Serial.println(errormessage);
+}
+
+void loop_test() {
+  Serial.print("adc_throttle_raw="); Serial.print(adc_throttle_raw);
+  Serial.print(", adc_brake_raw="); Serial.print(adc_brake_raw);
+  
+  int _maxspeed=1000;
+  int _maxbrake=400;
+  if (MODESWITCH_DOWN) {
+    _maxspeed=200;
+    _maxbrake=200;
+  }
+  int16_t throttlevalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, _maxspeed ) ,0, _maxspeed);
+
+  
+  int16_t brakevalue=constrain( map(adc_brake, ADC_CALIB_BRAKE_MIN, ADC_CALIB_BRAKE_MAX, 0, _maxbrake ) ,0, _maxbrake); //positive value for braking
+
+  int16_t speedvalue=throttlevalue*(1- (((float)brakevalue)/_maxbrake)) - (brakevalue*(1- (((float)throttlevalue)/_maxspeed)) ); //brake reduces throttle and adds negative torque
+  Serial.print(", throttle="); Serial.print(throttlevalue); Serial.print(", brake="); Serial.print(brakevalue); Serial.print(", speed="); Serial.println(speedvalue);
 }
 
 void loop_off() {
@@ -489,7 +521,7 @@ boolean boardsPowered()
 void failChecks() 
 {
   #define FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME 3000 //time to start failchecking boardpower after board poweroff
-  #define FAILCHECK_RECEIVERECENT_TIME 1000 //should be less than FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME
+  #define FAILCHECK_RECEIVERECENT_TIME 1000 //timeout .should be less than FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME
   // ## Check if board is really offline ##
   if (!board1Enabled) { //board should be offline
     if (loopmillis-board1lastPoweroff > FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME){ //wait some time before checking if board did power off