A first sensor detects a boom angle of a boom with respect to a support. An attachment is coupled to the boom. A second cylinder is associated with the attachment. A second sensor detects an attachment angle of the attachment with respect to the boom. An accelerometer detects an acceleration or deceleration of the boom. A switch accepts a command to enter a ready position state from another position state. A controller controls the first hydraulic cylinder to attain a boom angle within the target boom angular range and for controlling the second cylinder to attain an attachment angle within the target attachment angular range associated with the ready position state in response to the command in conformity with at least one of a desired boom motion curve and a desired attachment motion curve.