Furrow closing system with adjustable surface contour

An agricultural machine, comprising:

• a furrow opener configured to open a furrow in soil;
• planting functionality configured to provide seed to the furrow;
• a furrow closing system comprising a closing wheel, wherein a peripheral surface of the closing wheel comprises a soil engaging surface configured to engage the soil to close the furrow, a contour of the soil engaging surface being adjustable between a first contour and a second contour, and wherein the closing wheel comprises a plurality of retractable members that are retractable relative to the peripheral surface of the closing wheel to provide the first contour and that are extendable relative to the peripheral surface of the closing wheel to provide the second contour, wherein each of the plurality of retractable members comprises:
• a stud;
• an actuator, and
• a linkage coupled between the actuator and the stud, wherein actuation of the actuator drives movement of the stud between a retracted position and an extended position through the linkage;
• a soil sensor configured to sense a characteristic of the soil and generate a soil sensor signal that has a value responsive to the characteristic of the soil;
• and
• a furrow closing system controller configured to receive the soil sensor signal and generate a closing system control signal to control the contour of the soil engaging surface of the furrow closing system based on the soil sensor signal.