Automatically adjusting swing legs for mounting and aligning and reorienting crawlers

A swing leg assembly configured to be coupled to a paving machine configured to move in a paving direction for spreading, leveling, and finishing concrete into a form having a generally upwardly exposed, finished concrete surface and terminating in lateral concrete sides, the swing arm assembly comprising:

• a swing leg configured to be coupled to the paving machine, and configured to pivot about a first axis to a first angular orientation relative to the paving machine;
• a jacking column coupled to the swing leg;
• a crawler track rotatably coupled to the jacking column, wherein the crawler track is configured to rotate about a second axis to a second angular orientation relative to the jacking column;
• a slew drive coupled to the jacking column and the crawler track, wherein the slew drive is configured to cause rotation of the crawler track relative to the jacking column;
• a first sensor configured to emit a first signal corresponding to the first angular orientation;
• a second sensor configured to emit a second signal corresponding to the second angular orientation;
• and
• a processor configured to:
• receive the first signal from the first sensor, and the second signal from the second sensor;
• determine a change of the first angular orientation based on the first signal;
• in response to determining the change of the first angular orientation, determine a target second angular orientation based on the determined change of the first angular orientation and the second angular orientation based on the second signal;
• and
• send a control signal to the slew drive in order to cause the second angular orientation of the crawler track to rotate to the target second angular orientation.