Abstract: A first hydraulic cylinder is associated with a boom. A first sensor detects a boom angle of a boom with respect to a support (or a vehicle). An attachment is coupled to one end of the boom. A second hydraulic cylinder is associated with the attachment. A second sensor detects an attachment position of attachment based on a second linear position of a second movable member of the second hydraulic cylinder. An accelerometer detects an acceleration or deceleration of the boom. A switch is arranged to accept a command to move to a preset position from another position. A controller is capable of controlling the first hydraulic cylinder to attain a target boom position and for controlling the second cylinder to attain a target attachment position associated with the preset position in response to the command in conformity with at least one of a desired boom motion curve and a desired attachment motion curve.