Distance-based front-to-rear timing on mower cutting units

A mower having a longitudinal direction and a horizontal direction, comprising:

• a first cutting unit row including at least a first cutting unit configured to cut grass, said first cutting unit movable between a plurality of first cutting unit positions;
• a second cutting unit row including at least a second cutting unit configured to cut grass, said second cutting unit movable between a plurality of second cutting unit positions;
• said first and second cutting units located a first distance from each other in said longitudinal direction;
• a controller including at least one memory and at least one processor, the
• controller operable to:
• detect a request to start or stop cutting grass;
• command said first cutting unit to start or stop cutting grass consistent with the detected request;
• determine the distance traveled by said mower after said first cutting unit
• has either started or stopped cutting grass consistent with the detected request;
• and
• command said second cutting unit to either start or stop cutting grass consistent with the detected request when said mower has traveled a distance approximately equal to said first distance.

A computer implemented method of controlling a grass mowing machine having a first row of cutting units including at least a first cutting unit and a second row of cutting units including at least as second cutting unit wherein said first and second cutting units are separated by a first distance in a longitudinal direction and are movable between a plurality of positions, comprising:

• detecting a request to move said cutting units to a different of said plurality of
• positions;
• commanding movement of said first cutting unit;
• determining a distance traveled by said grass mowing machine;
• commanding movement of said second cutting unit such that an
• approximately straight mow line is created across a total desired cutting width of said mower.