On my 19 Fusion SE Hybrid, regen comes on as soon as I take my foot off the accelerator, as in coasting. The actual brake pedal has nothing to do with regenerating the battery. It's all did through the electric motor in the transmission. If you don't have Eco mode turned on then the regen holds back the car which slows if down , but if you do have Eco mode on, then the hold back is much stronger which slows the car even faster. To test this just be going down hill and switch between Eco on and off, you will feel a big difference. Eco on holds back stronger and seems to regenerate more power to the HVB than Eco off does.