diff --git a/controller_teensy/src/main.cpp b/controller_teensy/src/main.cpp
index 0368d5b..735c756 100644
--- a/controller_teensy/src/main.cpp
+++ b/controller_teensy/src/main.cpp
@@ -57,6 +57,11 @@ unsigned long brake_ok_time=0;
 bool error_throttle_outofrange=false;
 bool error_brake_outofrange=false;
 
+#define NORMAL_MAX_ACCELERATION_RATE 10000
+#define SLOW_MAX_ACCELERATION_RATE 500
+int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send increase per second
+
+
 float meanSpeedms=0;
 float trip=0; //trip distance in meters
 float wheelcircumference=0.5278; //wheel diameter in m. 8.4cm radius -> 0.084m*2*Pi
@@ -66,8 +71,8 @@ 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=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
+int16_t brake_cmdreduce_proportional=500; //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
 float startbrakecurrent_offset=0.1; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
 
 
@@ -366,7 +371,6 @@ 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)
@@ -429,6 +433,7 @@ void readADC() {
   if (digitalRead(PIN_MODE_SWITCH)) { //pushed in, also high if cable got disconnected
     if (speedmode!=SPEEDMODE_SLOW) {
       speedmode=SPEEDMODE_SLOW;
+      max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
       if (loopmillis>WRITE_HEADER_TIME) {
         writeLogComment(Serial1,loopmillis, "Mode switched to SPEEDMODE_SLOW");
       }
@@ -436,6 +441,7 @@ void readADC() {
   }else{ //button not pushed in
     if (speedmode!=SPEEDMODE_NORMAL) {
       speedmode=SPEEDMODE_NORMAL;
+      max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
       if (loopmillis>WRITE_HEADER_TIME) {
         writeLogComment(Serial1,loopmillis, "Mode switched to SPEEDMODE_NORMAL");
       }
@@ -527,7 +533,7 @@ void sendCMD() {
   filtered_currentAll=max(filtered_currentFront,filtered_currentRear); //positive value is current Drawn from battery. negative value is braking current
 
   if (throttle_pos>=last_cmd_send) { //accelerating
-    cmd_send = throttle_pos; //if throttle higher than last applied value, apply throttle directly
+    cmd_send += constrain(throttle_pos-cmd_send,0,max_acceleration_rate*SENDPERIOD/1000); //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
@@ -544,7 +550,7 @@ void sendCMD() {
 
   last_cmd_send=cmd_send;
 
-  int16_t cmd_send_toMotor=constrain(cmd_send-(brake_pos*0.2),0,1000);
+  int16_t cmd_send_toMotor=constrain(cmd_send*  (1.0-(brake_pos*0.5/1000.0) ) ,0,1000); //brake "ducking"