iv been plotting and planning my own mower. there are several improvements from what iv seen you could easily make to you software control; 1) a single function (accessible as a button) for programmatically turning around and shifting over to the side one mow paths of width 2) a function for going forward for x amount of distance 3) and bringing these together with the optional use of a scripted list of commands. so it can be mostly hands free. ensuring alignment along the path seems a bit tricky without some advanced sensors though. perhaps this lidar would aid in finding some waypoint in order to do some geometry and get a solid orientation and position. another useful function with a script might be 'rollback function' where it tries to reposition itself back at the beginning of the current command. best of luck
