A seed depth device for an agricultural planter includes an electric motor, an actuator, a stop, a controller, and a seed depth auto-learn system. The actuator is driven by the electric motor, and is constructed and arranged to move between a home position and a full extension position. The stop is proximate to the actuator when in the home position. The controller includes a computing processor and a computer readable storage medium configured to control the electric motor. The seed depth auto-learn system is, at least in-part, stored and executed by the controller. The seed depth auto-learn system is configured to learn the home position based, at least in-part, on the actuator stalling upon the stop.