The switch on the brake pedal is just that, a switch. You can easily verify this with an ohmmeter.
The computer controls the amount of regen depending on a number of factors such as the state of charge, temperature of the pack, and the RPM of the motor, Thus maximizing the life of the batteries. The computer also ramps up the charge to prevent sudden jerking of the car, so dithering of the switch can give the impression that there is a linear relationship.
At least one person has a push button switch in parrallel with it, to regen without touching the brake pedal. See: Corry's Max Regen Mod.
Linear manual control has been achieved with a programmable microchip computer. See
http://www.99mpg.com
Develope a light touch on the brake, brake early, and use a higher gear to reduce compression braking. This will achieve maximum benefit from regeneration.