As a side issue - have you considered the safety aspects of what you are proposing? What happens if your code goes west and tells the tractor to go full throttle? It is near impossible to prove your code is 100% reliable nor the hardware. The way to better guarantee correct operation is to have redundancy - other systems that check for correct operation. You need to consider 'failsafe' operation. If something is going to fail - it will fail in a manner that will stop the tractor. This is a interesting part of engineering where the best outcome is 'unlikely' - unlikely to fail,cause injury etc.