For your cabbage worm problem, it seems that Nasturtiums will repel them and other pests. Since Nasturtiums are climbers, I would grow them on a tree or trellis by the Farmbot bed, however they will grow along the ground too.
Alliums (garlic, chives, onions, leeks) are great for repelling cabbage worms too. However, don’t grow beans and peas in the same bed. Beans do best in a three sisters plot anyways (which is very low maintenance to begin with).
If you do want to have beans in the same plot then use Thyme.