Agricultural implement with row unit leveling system

An agricultural implement, comprising:

• a center frame defining a travel axis;
• a tool bar connected to the center frame and extending transversely to the travel axis;
• a plurality of row units each including a parallel linkage pivotably coupled to the tool bar, the plurality of row units comprising a first row unit having a first parallel linkage including an upper first parallel linkage arm and a lower second parallel linkage arm, the first parallel linkage arm defining a first linkage angle relative to the tool bar;
• at least one angle sensor comprising a first angle sensor positioned on an upper surface of the tool bar above the first parallel linkage arm connected to the tool bar, the at least one angle sensor configured to output a first linkage angle signal corresponding to the first linkage angle;
• an actuator operatively connected to a tractor and positioned between the tractor and a portion of the center frame of the agricultural implement, the actuator configured to adjust the first linkage angle;
• and
• a controller operationally coupled to the first angle sensor and the actuator, the controller being configured to:
• determine the first linkage angle from the first linkage angle signal;
• compare the first linkage angle to a preset linkage angle;
• and
• activate the actuator to adjust the first linkage angle to the preset linkage angle if the first linkage angle deviates from the preset linkage angle,
• wherein the actuator is configured to at least one of raise and lower the tool bar to adjust the first linkage angle.