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With all the permanent magnet DC motors I build, the controls have power applied to the armature windings or not. The regen mode means the spinning armature is sending current back to the battery. In dynamic braking mode the brushes or leads are connected. This is how we do no skid stops. A mechanical brake would be a separate system.
Designers have a choice between mimicking the current ICE pedal controls or using steering wheel mounted cruise control type system with paddles. Image using a game boy control with electric steering.
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