# Pico digital twin — the logical PixStars head-pitch actuator.
#
# The Pico represents the LOGICAL actuator and its state, not merely a
# hardware register. The AX-12A is one current implementation; the Pico
# capability survives replacing the AX-12A with another servo.
#
# Canonical Pico format (open-engineering.io/v1alpha1) — see the Pico course.
apiVersion: open-engineering.io/v1alpha1
kind: Pico
metadata:
  name: pixstars-head-pitch
spec:
  type: actuator
  capabilities:
    - nod
    - center
    - stop
    - set-position
  implementation:
    deviceClass: dynamixel
    model: AX-12A
  state:
    desiredPosition: 0
    actualPosition: 0
    moving: false
    torqueEnabled: true
    connected: true
    temperature: null
    voltage: null
    lastCommand: null
    lastCommandStatus: null
    lastUpdated: null
  events:
    subscribesTo:
      channel: pixstars-head
      eventTypes:
        - pixstars.head.nod.requested
        - pixstars.head.center.requested
        - pixstars.head.stop.requested
    emits:
      - pixstars.head.nod.completed
      - pixstars.head.nod.failed
      - pixstars.head.state.updated