It follows the Law of Conservation of energy. When you go down hill, the loss of potential energy is converted into kinetic energy. By applying the friction brake, you convert part of the potential energy into thermal energy, thus you prevents the kinetic energy from increasing. While applying the regen first, you convert potential energy more into electric energy than thermal energy, they do the same thing as you want, which is reducing the kinetic energy. The regen deceleration is not as powerful as the friction brake, so, if and only if the system deems that regen is not enough, will the friction brake be triggered.