A farming machine configured to move through a field, the farming machine comprising: an actuatable beam (320A, 320B) extending away from a body of the farming machine; an actuator system configured to control a position of the actuatable beam (320A, 320B) relative to the body of the farming machine; a sensor system (325A, 325B) configured to generate measurement data indicative of distances and angles between the sensor system (325A, 325B) and ground points in the field at least a first threshold distance in front of a component of the farming machine; and a control system configured to: receive the measurement data from the sensor system (325A, 325B); generate a terrain map of the ground around the farming machine based on the measurement data from the sensor system (325A, 325B); determine a target actuatable beam height for each ground point at the first threshold distance in front of the component of the farming machine based on the terrain map; and actuate the actuator system to adjust the position of the actuatable beam (320A, 320B) based on the measurement data and the target actuatable beam heights as the farming machine moves toward the ground points, wherein a height of the actuatable beam (320A, 320B) relative to the field is within a second threshold distance of the target actuatable beam height corresponding to each ground point prior to the component passing over each ground point. an actuatable beam (320A, 320B) extending away from a body of the farming machine; an actuator system configured to control a position of the actuatable beam (320A, 320B) relative to the body of the farming machine; a sensor system (325A, 325B) configured to generate measurement data indicative of distances and angles between the sensor system (325A, 325B) and ground points in the field at least a first threshold distance in front of a component of the farming machine; and a control system configured to: receive the measurement data from the sensor system (325A, 325B); generate a terrain map of the ground around the farming machine based on the measurement data from the sensor system (325A, 325B); determine a target actuatable beam height for each ground point at the first threshold distance in front of the component of the farming machine based on the terrain map; and actuate the actuator system to adjust the position of the actuatable beam (320A, 320B) based on the measurement data and the target actuatable beam heights as the farming machine moves toward the ground points, wherein a height of the actuatable beam (320A, 320B) relative to the field is within a second threshold distance of the target actuatable beam height corresponding to each ground point prior to the component passing over each ground point. receive the measurement data from the sensor system (325A, 325B); generate a terrain map of the ground around the farming machine based on the measurement data from the sensor system (325A, 325B); determine a target actuatable beam height for each ground point at the first threshold distance in front of the component of the farming machine based on the terrain map; and actuate the actuator system to adjust the position of the actuatable beam (320A, 320B) based on the measurement data and the target actuatable beam heights as the farming machine moves toward the ground points, wherein a height of the actuatable beam (320A, 320B) relative to the field is within a second threshold distance of the target actuatable beam height corresponding to each ground point prior to the component passing over each ground point.