diff --git a/.gitignore b/.gitignore
index 79780ba..cb4fdde 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,4 @@
 node_modules
-public/bower_components
\ No newline at end of file
+public/bower_components
+.AppleDouble
+.DS_Store
diff --git a/Brobot/brobot.js b/Brobot/brobot.js
index f676082..55c0c73 100644
--- a/Brobot/brobot.js
+++ b/Brobot/brobot.js
@@ -13,13 +13,13 @@ module.exports = {
 	initialize: function(){
 		// Calculate maximum latency
 		var slowestInstrument = _.max(config.instruments, function(instrument){
-			return instrument.softLatencyAbsolute;
+			return instrument.latency;
 		});
-		var maximumLatency = slowestInstrument.softLatencyAbsolute;
+		var maximumLatency = slowestInstrument.latency;
 
 		// instantiate instrument controllers
 		_.each(config.instruments, function(instrument){
-			instrument.softLatencyRelative = maximumLatency - instrument.softLatencyAbsolute;
+			instrument.relativeOffset = maximumLatency - instrument.latency;
 			instruments[instrument.note] = new instrumentController(instrument);
 		});
 		this.initializeArduino();
@@ -65,11 +65,29 @@ module.exports = {
 		if ([144,155,153].indexOf(instruction) !== -1){
 			this.onMidiNote(channel, velocity)
 		}
+		if([128,129].indexOf(instruction) !== -1){
+			this.onInstruction({
+				instruction: instruction,
+				channel: channel,
+				velocity: velocity
+			});
+		}
+	},
+	onInstruction: function(e){
+		if(e.instruction === 128){
+			if(instruments[e.channel]){
+				instruments[e.channel].determineMinimumDurationForContact();
+			}
+		}
 	},
 	onMidiNote: function (channel, velocity){
 		console.log("Midi note incoming", channel, velocity);
-		if(instruments[channel]){
-			instruments[channel].queue(velocity);
+		if(new Date().getHours() >= 10 || true){
+			if(instruments[channel]){
+				instruments[channel].queue(velocity);
+			}
+		}else{
+			console.log("Not within operating hours");
 		}
 	}
-};
\ No newline at end of file
+};
diff --git a/Brobot/config.js b/Brobot/config.js
index 75ac813..73145da 100644
--- a/Brobot/config.js
+++ b/Brobot/config.js
@@ -4,44 +4,44 @@ var config = {
 			name: "(electric) Snare",
 			note: 40,
 			pinNumber: 9,
-			softVelocity: 20,
-			softLatencyAbsolute: 50
+			latency: 8 // tested
 		},
 		{
 			name: "(electric) Kick",
 			note: 36,
 			pinNumber: 5,
-			softVelocity: 40,
-			softLatencyAbsolute: 50
+			latency: 16 // tested
 		},
 		{
 			name: "(closed) Hat",
 			note: 42,
 			pinNumber: 10,
-			softVelocity: 20,
-			softLatencyAbsolute: 50
+			latency: 15 // tested
 		},
 		{
 			name: "Crash (cymbal 1)",
 			note: 49,
 			pinNumber: 11,
-			softVelocity: 20,
-			softLatencyAbsolute: 50
+			latency: 15 // tested
 		},
 		{
 			name: "Floor Tom (low)",
 			note: 41,
 			pinNumber: 6,
-			softVelocity: 50,
-			softLatencyAbsolute: 50
+			latency: 9 // tested
 		},
 		{
 			name: "Low Tom",
 			note: 45,
 			pinNumber: 7,
-			softVelocity: 50,
-			softLatencyAbsolute: 50
+			latency: 9 // tested
 		}
+//                {
+//                        name: "Ride",
+//                        note: 51,
+//                        pinNumber: 10,
+//                        softLatencyAbsolute: 8
+//                }
 	]
 }
-module.exports = config;
\ No newline at end of file
+module.exports = config;
diff --git a/Brobot/instrument-controller.js b/Brobot/instrument-controller.js
index 1704b88..c12d402 100644
--- a/Brobot/instrument-controller.js
+++ b/Brobot/instrument-controller.js
@@ -8,12 +8,25 @@ var InstrumentController = function(instrument, config) {
 // properties and methods
 InstrumentController.prototype = {
 
-	// delayForVelocity(velocity:Int) return Int
-	// calculates delay in MS from strike to impact for given :velocity
-	delayForVelocity: function(velocity){
-		// TODO : Make exponential, not linear
-		var velocityFactor = 1 / 128 * velocity;
-		return Math.ceil(this.softLatencyAbsolute * velocityFactor);
+	// DEVELOPMENT METHODS
+	determineMinimumDurationForContact: function(){
+		var self = this;
+		var min = 5; // minimum duration in milliseconds
+		var max = 30; // maximum duration in milliseconds
+		
+		for(var x=min; x<max; x++){
+			setTimeout(function(duration){
+	                        console.log('starting duration test for '+self.pinNumber+' for '+duration+'ms');
+                        	self.pin.brightness(255);
+                        	setTimeout(
+                        	        function(){
+                        	                console.log('Pin ' + self.pinNumber + ' going to 0');
+                        	                self.pin.brightness(0);
+                        	        },
+					duration
+                        	)
+			}.bind(null, x), 1000 * (x - min));
+		}
 	},
 
 	// durationForVelocity(velocity:Int) return Int
@@ -22,27 +35,11 @@ InstrumentController.prototype = {
 	durationForVelocity: function(velocity){
 		in_min = 127;
 		in_max = 0;
-		out_min = 30;
-		out_max = 30 + this.softLatencyAbsolute;
+		out_max = this.latency;
+		out_min = this.latency + 20;
 		return Math.ceil((velocity - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);
 	},
 
-	// trueVelocity(velocity:Int) return Int
-	// Returns proper velocity considering actual velocity range
-	trueVelocity: function(velocity){
-		in_min = 0;
-		in_max = 127;
-		out_min = this.softVelocity;
-		out_max = 127;
-		return Math.ceil((velocity - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);
-	},
-
-	// pinValueForVelocity(velocity:Int) return Int
-	// Returns a PWM pin value for given :velocity
-	pinValueForVelocity: function(velocity){
-		return this.trueVelocity(velocity) * 2;
-	},
-
 	// queue(velocity:Int) return null
 	// Queue a strike for given :velocity
 	queue: function(velocity){
@@ -51,7 +48,7 @@ InstrumentController.prototype = {
 			function(){
 				self.strike(velocity)
 			},
-			this.delayForVelocity(velocity)
+			this.relativeOffset
 		);
 	},
 
@@ -61,16 +58,14 @@ InstrumentController.prototype = {
 		var self = this;
 		if(this.hasOwnProperty('pin')){
 			console.log({
+				name: this.name,
 				pin: this.pinNumber,
 				velocity: velocity,
-				trueVelocity: this.trueVelocity(velocity),
-				pwm: this.pinValueForVelocity(velocity),
-				delay: this.delayForVelocity(velocity),
+				pwm: 255,
+				relativeOffset: this.relativeOffset,
 				duration: this.durationForVelocity(velocity)
 			});
-			this.pin.brightness(
-				this.pinValueForVelocity(velocity)
-			);
+			this.pin.brightness(255);
 			setTimeout(
 				function(){
 					console.log('Pin ' + self.pinNumber + ' going to 0');
@@ -85,4 +80,4 @@ InstrumentController.prototype = {
 };
 
 // node.js module export
-module.exports = InstrumentController;
\ No newline at end of file
+module.exports = InstrumentController;
diff --git a/app.js b/app.js
old mode 100644
new mode 100755
diff --git a/package.json b/package.json
index 23a682f..53a287a 100644
--- a/package.json
+++ b/package.json
@@ -5,9 +5,16 @@
   "dependencies": {
     "dataio": "^0.1.1",
     "express": "^4.13.0",
-    "johnny-five": "^0.8.81",
+    "johnny-five": "^0.10.0",
+    "lodash": "^4.15.0",
     "midi": ">= 0.5.0",
-    "serialport": "^2.1.0",
+    "moment": "^2.15.0",
+    "node-pre-gyp": "^0.6.30",
+    "serialport": "^2.1.2",
     "underscore": "^1.8.3"
+  },
+  "devDependencies": {
+    "debug": "^2.2.0",
+    "node-pre-gyp": "^0.6.30"
   }
 }