Method for performing an agricultural task

An agricultural machine system for performing an agricultural task in a field, the agricultural machine system comprising:

• an agricultural machine;
• a frame connected to the agricultural machine, the frame configured with at least two units to perform an agricultural task;
• a controller in communication with the agricultural machine and the at least two units, the controller configured to determine agricultural task instructions, the agricultural task instructions including:
• a first agricultural task instruction for travel in a first direction, the first agricultural task instruction to vary a first spacing between plants in a first row;
• and
• a second agricultural task instruction for travel in a second direction, which is not parallel to the first direction, the second agricultural task instruction for travel in the second direction is generated using at least one parameter corresponding to crop density;
• and
• actuators in communication with the agricultural machine and the at least two units, the actuators configured to position the at least two units based on the first spacing and the at least one parameter.