A method of controlling formation of a bale includes forming a bale from crop material by rotating the bale in a bale chamber and applying an amount of density pressure to the rotating bale. The method also includes receiving at least one operating condition value corresponding to at least one sensed operating condition when the bale is forming. The method further includes automatically determining the amount of bale density pressure applied to the bale responsive to receiving the at least one received operating condition value and controlling formation of the bale by causing the determined amount of bale density pressure to be applied to the bale.