routines are illustrated referring to fig8 if at decision block 138 option 4 is selected an agitation motion is selected as denoted at block 160 as a result controller 68 will prompt the operator to select preset parameters of the agitator motion or set new parameters as summarized at block 162 such parameters can include but are not limited to speed of rotation motion profile amplitude frequency waveform symmetry and duration once the parameters are set controller 68 will execute the agitator motion as denoted at block 164 until the routine is canceled as denoted at decision block 166 again cancellation can be initiated by operator action or automatically any of the parameters for instance frequency can be modified automatically by controller 68 based on the estimated state of the threshing system determined using filter 100 also ref erring to fig9 a fifth option is an agitator motion routine wherein during the execution of the routine loading conditions are monitored and the motion parameters e g speed profile amplitude frequency waveform symmetry and or duration are automatically altered as a function of the monitored load as denoted by the sequence of steps of blocks 168 170 172 174 and 176 this sequence of steps will be repeated in a looping action until canceled as denoted by block 178 finally referring to fig1 selection of a sixth option as.