# Open Engineering Rules — what the pixstars-head-pitch Pico is permitted to do.
#
# Uses the canonical Rules format (capability / effect / constraints) taught by
# the Pico course. The gesture *gate* — only nod when connected, ready, and
# within safe limits — is expressed as constraints on the capability request.
rules:
  - capability: actuator.nod
    effect: allow
    constraints:
      actuator: pixstars-head-pitch
      gate:
        connected: true
        ready: true
        withinSafeLimits: true
  - capability: actuator.center
    effect: allow
    constraints:
      actuator: pixstars-head-pitch
  - capability: actuator.stop
    effect: allow
    constraints:
      actuator: pixstars-head-pitch
  - capability: actuator.set-position
    effect: allow
    constraints:
      actuator: pixstars-head-pitch
      withinSafeLimits: true
  - capability: actuator.write-register
    effect: deny
  - capability: actuator.raw-motion
    effect: deny