Patent ID: 8899689

Claim:
A milling machine comprising: a frame; a plurality of ground engaging units: a plurality of vertically adjustable legs, each of the plurality of vertically adjustable legs connecting one of the plurality of ground engaging units to the frame, the plurality of vertically adjustable legs comprising a front leg and a rear leg; a rotatable mill configured to mill a surface; a user interface configured to receive a milling grade depth and a cut-transition factor: a speed sensor configured to provide a ground speed of the milling machine; a first sideplate disposed on a first side of the milling machine and a second sideplate disposed on a second side of the milling machine; sideplate sensors disposed on each sideplate, the sideplate sensors configured to provide vertical position information with respect to its respective sideplate; a vertical position sensor configured to provide a height of the rotatable mill; and a controller coupled to the speed sensor, the vertical position sensor, the sideplate sensors and the user interface, the controller configured to adjust the height of the rotatable mill from a current height to the milling grade depth by incrementally adjusting a length of at least one of the plurality of vertically adjustable legs according to the cut-transition factor, the speed sensor, the sideplate sensors, and the vertical position sensor.