diff --git a/RpiLedBars/pixled.service b/RpiLedBars/pixled.service
index 0c8e33c..6450e48 100644
--- a/RpiLedBars/pixled.service
+++ b/RpiLedBars/pixled.service
@@ -3,7 +3,7 @@ Description=pixled
 After=network.target
 
 [Service]
-ExecStart=pixled -n 180 -d 1
+ExecStart=pixled -n 180 -d 2
 Restart=always
 User=root
 Group=root
diff --git a/RpiLedBars/src/drivers/leddriver/rpi_leddriver.h b/RpiLedBars/src/drivers/leddriver/rpi_leddriver.h
index 62dc410..0a64e76 100644
--- a/RpiLedBars/src/drivers/leddriver/rpi_leddriver.h
+++ b/RpiLedBars/src/drivers/leddriver/rpi_leddriver.h
@@ -13,4 +13,6 @@ void rgb_txdata(int *rgbs, int index);
 
 void leddriver_refresh();
 
+uint32_t ColorHSV(uint16_t hue, uint8_t sat, uint8_t val);
+
 #endif // __RPI_LEDDRIVER_H__
\ No newline at end of file
diff --git a/RpiLedBars/src/main.c b/RpiLedBars/src/main.c
index 14d2e92..02e35d2 100644
--- a/RpiLedBars/src/main.c
+++ b/RpiLedBars/src/main.c
@@ -84,12 +84,12 @@ int main(int argc, char const *argv[]) {
 
   signal(SIGINT, terminate);
 
-  // struct sched_param sp;
-  // sp.sched_priority = 32;
-  // if (pthread_setschedparam(pthread_self(), SCHED_FIFO, &sp)) {
-  //   fprintf(stderr, "WARNING: Failed to set stepper thread to real-time priority: %s\n",
-  //           strerror(errno));
-  // }
+  struct sched_param sp;
+  sp.sched_priority = 32;
+  if (pthread_setschedparam(pthread_self(), SCHED_FIFO, &sp)) {
+    fprintf(stderr, "WARNING: Failed to set stepper thread to real-time priority: %s\n",
+            strerror(errno));
+  }
 
   log_set_lock(log_lock_helper, &logLockMutex);
 
@@ -278,23 +278,31 @@ void execute_artnet_mode() {
   leddriver_refresh();
 }
 
+uint16_t static const minHue = 120 * UINT16_MAX / 360;
+uint16_t static const maxHue = 300 * UINT16_MAX / 360;
+uint16_t static const hueInterval = UINT16_MAX - (maxHue - minHue);
+
 void execute_autonomous_mode() {
   int ret;
   uint16_t *buffer;
 
   if ((ret = cava_get_buffer(&buffer)) == 0) {
-    for (size_t ledBarIndex = 0; ledBarIndex < 4; ++ledBarIndex) {
+    for (size_t ledBarIndex = 0; ledBarIndex < LED_NCHANS; ++ledBarIndex) {
       uint16_t barMax = 0;
-      for (size_t bar = 0; bar < 20 / 4; ++bar) {
-        unsigned barIndex = ledBarIndex * 20 / 4 + bar;
+      for (size_t cavaBar = 0; cavaBar < CAVA_BAR_NUMBER / LED_NCHANS; ++cavaBar) {
+        unsigned barIndex = ledBarIndex * CAVA_BAR_NUMBER / LED_NCHANS + cavaBar;
         if (barMax < buffer[barIndex]) {
           barMax = buffer[barIndex];
         }
       }
+      barMax *= param_access->auton.sensitivity * param_access->ledbar[ledBarIndex].sensitivity;
       unsigned ledToLight = barMax * chanLedCount / UINT16_MAX;
+      unsigned long hueShift = (long)barMax * (long)hueInterval / hueInterval;
+      uint16_t hue = minHue - hueShift;
+      uint32_t color = ColorHSV(hue, 255, 100);
 
       for (size_t i = 0; i < ledToLight; ++i) {
-        rgb_data[i][ledBarIndex] = 0xff0000;
+        rgb_data[i][ledBarIndex] = color;
         rgb_txdata(rgb_data[i], i);
       }
       for (size_t i = ledToLight; i < chanLedCount; ++i) {
diff --git a/RpiLedBars/src/rpi_midi_controller.c b/RpiLedBars/src/rpi_midi_controller.c
index 7fa2fe3..8febffa 100644
--- a/RpiLedBars/src/rpi_midi_controller.c
+++ b/RpiLedBars/src/rpi_midi_controller.c
@@ -182,7 +182,7 @@ void handle_in_port_events(snd_seq_event_t *ev) {
   case SND_SEQ_EVENT_CONTROLLER:
     switch (ev->data.control.param) {
     case 1:
-
+      set_sensitivity(destChannel, ev->data.control.value + 1);
       break;
 
     default:
diff --git a/RpiLedBars/src/rpi_param.h b/RpiLedBars/src/rpi_param.h
index b202a4c..39f2691 100644
--- a/RpiLedBars/src/rpi_param.h
+++ b/RpiLedBars/src/rpi_param.h
@@ -57,7 +57,7 @@ typedef struct {
  * Global Variables
  **************************************************************************************************/
 
-static param_t *param_access;
+param_t *param_access;
 
 /***************************************************************************************************
  * External Function Prototypes
diff --git a/RpiLedBars/src/tasks/cava/rpi_cava.c b/RpiLedBars/src/tasks/cava/rpi_cava.c
index 839612b..49c369f 100644
--- a/RpiLedBars/src/tasks/cava/rpi_cava.c
+++ b/RpiLedBars/src/tasks/cava/rpi_cava.c
@@ -28,7 +28,7 @@
 /**
  * Constant for Maximum char in a line (128 number of (5 char + 1 delim) + \n )
  */
-#define MAXLINECHAR 128 * (5 + 1) + 1
+#define MAXLINECHAR CAVA_BAR_NUMBER * (5 + 1) + 1
 
 /***************************************************************************************************
  * Type and Contant Definitions
diff --git a/RpiLedBars/src/tasks/cava/rpi_cava.h b/RpiLedBars/src/tasks/cava/rpi_cava.h
index fd15c5c..dd9190b 100644
--- a/RpiLedBars/src/tasks/cava/rpi_cava.h
+++ b/RpiLedBars/src/tasks/cava/rpi_cava.h
@@ -7,12 +7,15 @@
 /***************************************************************************************************
  * Includes
  **************************************************************************************************/
+
 #include <stdint.h>
 
 /***************************************************************************************************
  * Preprocessor Constants and Macros
  **************************************************************************************************/
 
+ #define CAVA_BAR_NUMBER 128
+
 /***************************************************************************************************
  * Type and Contant Definitions
  **************************************************************************************************/