An agricultural machine has a communication component configured to receive a first data set and a second data set. The first and second data sets comprise indications of a soil parameter of a worksite. The first data set is captured at an earlier time than the second data set. The agricultural machine also has a controller configured to receive the first and second data sets and, based on the first and second data sets, generate a map of the worksite. The agricultural machine also has a controllable subsystem configured to receive a control signal from the controller. The control signal is generated based on both a position of the agricultural machine within the worksite and the generated map. The control signal is configured to control operator of the controllable subsystem.