Abstract: A method for controlling an attachment provided to a boom of a vehicle, the method including: sensing a ground force on the attachment; determining if the ground force is outside a target deadband, wherein the target deadband is based on a height of the attachment over the ground, and, if the ground force is outside the target deadband, adjusting a cylinder pressure to bring the ground force within the deadband. A system for controlling an attachment on a boom, the system including: a control system; a hydraulic system for at least a first piston provided to the boom; and a first pressure sensor for sensing a pressure related to the attachment and communicating the sensed pressure to the control system, wherein the control system determines if the pressure is outside a target deadband, and, if so, adjusts a pressure at the piston to bring the sensed pressure within the deadband.