The inputs and outputs of the slave tractor all interfaced now. These include the inputs of GPS height, hitch height, ground speed, wheel angles and outputs for wheel steering, hitch, variable transmission and  speed control.

The tractor is now following a path in an hardware in the loop setup: The tractor is following a path with the wheels lifted from the floor. The measured inputs are used as the input for the simulator that is running a tractor simulation model.