Automate Agopen

Good afternoon all,

I would like to use Agopen in a different way, I am looking for advice, or even modified versions.

I would like to roll my field several times without doing anything. For that I have to find a system which draws and anticipates the passages of the tractor while avoiding the obstacles (stones, trees).

Finally the idea is to arrive with the tractor in the field to launch the program for example with 2 repetitions so twice the same passage and to finish the field at the starting point.

Can you help me?

Have a good day