Ground following optimization with downforce control systems and methods

An agricultural machine for traversing ground and distributing commodity, comprising:

• an adjustable frame having a rearward end and a forward end;
• a main frame coupled to the forward end of the adjustable frame;
• at least one adjustable frame actuator coupled to the adjustable frame and the main frame;
• a row unit coupled to the rearward end of the adjustable frame;
• at least one sensor configured to measure a parameter indicative of an actual ground following indicator associated with an actual height of the row unit relative to the ground;
• a controller configured to:
• receive a signal indicative of the parameter measured by the at least one sensor;
• compare the actual ground following indicator to a desired ground following indicator that is associated with a desired height of the row unit relative to the ground;
• determine that the actual ground following indicator is not equal to or within a predetermined threshold of the desired ground following indicator;
• and
• send a signal causing adjustment of an applied force output by the at least one adjustable frame actuator from a first applied force to a second applied force in response to determining that the actual ground following indicator is not equal to or within the predetermined threshold of the desired ground following indicator;
• wherein at the first applied force the actual ground following indicator is not equal to or within the predetermined threshold of the desired ground following indicator and at the second applied force the actual ground following indicator is equal to or within the predetermined threshold of the desired ground following indicator.