diff --git a/README.md b/README.md
new file mode 100644
index 0000000..ff13855
--- /dev/null
+++ b/README.md
@@ -0,0 +1,7 @@
+# To install on robot
+
+```
+git clone <url>
+cd lewis-crawler/crawler_software/raspberry_pi
+make install?
+```
diff --git a/companion_software/BasicBot.py b/companion_software/BasicBot.py
new file mode 100644
index 0000000..d06675a
--- /dev/null
+++ b/companion_software/BasicBot.py
@@ -0,0 +1,23 @@
+from discord_webhook import DiscordWebhook
+from picamera import PiCamera
+from time import sleep
+
+
+def get_uptime():
+    with open('/proc/uptime', 'r') as f:
+        uptime_seconds = float(f.readline().split()[0])
+
+    return uptime_seconds
+
+webhookURL = "https://discord.com/api/webhooks/856609966404534272/TR9tnLq2sIGZoOeADNswmGRNlzBcqM5aKihfU6snVTP9WhSSoVVvi7nT6i-ZfZS7Hcqm"
+
+webhook = DiscordWebhook(url=webhookURL, content="Uptime: " + str( round( ((get_uptime() / 60) / 60 ), 2 )) + " hours")
+
+camera = PiCamera()
+sleep(3) # let iso settle out
+camera.capture('still.jpg')
+
+with open("still.jpg", "rb") as f:
+        webhook.add_file(file=f.read(), filename='still.jpg')
+response = webhook.execute() # Hit send
+
diff --git a/crawler_software/arduino/crawler_slave/crawler_slave.ino b/crawler_software/arduino/crawler_slave/crawler_slave.ino
new file mode 100644
index 0000000..dee8522
--- /dev/null
+++ b/crawler_software/arduino/crawler_slave/crawler_slave.ino
@@ -0,0 +1,63 @@
+/* Crawler Slave
+ *  
+ *  This code runs on the crawler i2c network
+ *  and provides a cleaner, less CPU intensive control over PWM devices.
+ */
+
+#include <Wire.h>
+#include <Servo.h>
+
+// This servo is used to wipe and clean the camera lens
+Servo windowWiperServo;
+
+// Variables populated over i2c from master
+int id;
+int val;
+
+void setup() {
+  // For debugging
+  //Serial.begin(115200);
+  
+  // Attach the wiper servo to pin 9
+  windowWiperServo.attach(9);
+
+  // This is the address the pi will speak to us at
+  Wire.begin(0x4);
+  
+  // Call receiveEvent when data received                
+  Wire.onReceive(receiveEvent);
+
+  // Setup LED
+  pinMode(LED_BUILTIN, OUTPUT);
+  digitalWrite(LED_BUILTIN, LOW);
+
+  //Serial.println("Started");
+}
+
+// Just loop to keep the running code alive, and wait for events to happen.
+void loop() {
+  delay(50);
+}
+
+// This method runs when we receive a message
+void receiveEvent(int n) {
+  Wire.read(); // Remove smbus trash
+  if (true) { // Dont do anything if this is not true
+    id  = Wire.read(); // ID of the servo/device to access
+    val = Wire.read(); // Value to assign
+
+    //Serial.println(id);
+    //Serial.println(val);
+  
+    switch(id) {
+      case 1:
+        windowWiperServo.write(val);
+        break;
+    }
+  }
+
+  // Prevents a bug where if bytes are left in buffer, arduino crashes.
+  while (Wire.available()) {
+    Wire.read();
+  }
+}
diff --git a/crawler_software/config/hardware.yaml b/crawler_software/raspberry_pi/config/hardware.yaml
similarity index 100%
rename from crawler_software/config/hardware.yaml
rename to crawler_software/raspberry_pi/config/hardware.yaml
diff --git a/crawler_software/raspberry_pi/crawler.service b/crawler_software/raspberry_pi/crawler.service
new file mode 100644
index 0000000..e3fcca5
--- /dev/null
+++ b/crawler_software/raspberry_pi/crawler.service
@@ -0,0 +1,11 @@
+[Unit]
+Description=Crawler service overseer, manages running main crawler software
+After=multi-user.target
+
+[Service]
+Type=simple
+Restart=always
+ExecStart=/usr/bin/python /srv/crawler/crawler.py
+
+[Install]
+WantedBy=multi-user.target
diff --git a/crawler_software/raspberry_pi/requirements.txt b/crawler_software/raspberry_pi/requirements.txt
new file mode 100644
index 0000000..187c797
--- /dev/null
+++ b/crawler_software/raspberry_pi/requirements.txt
@@ -0,0 +1,2 @@
+PySSTV
+picamera
diff --git a/photos/TEST_PATTERN.jpg b/crawler_software/raspberry_pi/resources/TEST_PATTERN.jpg
similarity index 100%
rename from photos/TEST_PATTERN.jpg
rename to crawler_software/raspberry_pi/resources/TEST_PATTERN.jpg
diff --git a/crawler_software/sstv.py b/crawler_software/raspberry_pi/sstv.py
similarity index 100%
rename from crawler_software/sstv.py
rename to crawler_software/raspberry_pi/sstv.py
diff --git a/crawler_software/raspberry_pi/tests/discordbot.py b/crawler_software/raspberry_pi/tests/discordbot.py
new file mode 100644
index 0000000..9ad51e6
--- /dev/null
+++ b/crawler_software/raspberry_pi/tests/discordbot.py
@@ -0,0 +1,73 @@
+from discord_webhook import DiscordWebhook
+from picamera import PiCamera
+from time import sleep
+from gps import *
+from smbus import SMBus
+import time
+
+addr = 0x4 # bus address
+bus = SMBus(1) # indicates /dev/ic2-1
+
+numb = 1
+
+def writeData(value):
+    byteValue = StringToBytes(value)    
+    bus.write_i2c_block_data(addr,0x00,byteValue) #first byte is 0=command byte.. just is.
+    return -1
+
+
+def StringToBytes(val):
+        retVal = []
+        for c in val:
+                retVal.append(ord(c))
+        return retVal
+
+try:
+    for _x in range (0, 2):
+            for i in range(78, 130):
+                    writeData("WIPE-" + str(i))
+                    time.sleep(0.02)
+            for i in range(130, 78, -1):
+                    writeData("WIPE-" + str(i))
+                    time.sleep(0.02)
+except OSError:
+    print("Could not speak to ardujmemo")
+
+def get_uptime():
+    with open('/proc/uptime', 'r') as f:
+        uptime_seconds = float(f.readline().split()[0])
+
+    return uptime_seconds
+
+def getPositionData(gps):
+    location = [None]
+    while(location[0] == None):
+        print("Trying again")
+        nx = gpsd.next()
+        # For a list of all supported classes and fields refer to:
+        # https://gpsd.gitlab.io/gpsd/gpsd_json.html
+        if nx['class'] == 'TPV':
+            latitude = getattr(nx,'lat', "Unknown")
+            longitude = getattr(nx,'lon', "Unknown")
+            #print "Your position: lon = " + str(longitude) + ", lat = " + str(latitude)
+            location = [latitude, longitude]
+    return location
+
+gpsd = gps(mode=WATCH_ENABLE|WATCH_NEWSTYLE)
+
+loc = getPositionData(gpsd)
+
+webhookURL = "https://discord.com/api/webhooks/856609966404534272/TR9tnLq2sIGZoOeADNswmGRNlzBcqM5aKihfU6snVTP9WhSSoVVvi7nT6i-ZfZS7Hcqm"
+
+print(loc[0])
+print(loc[1])
+webhook = DiscordWebhook(url=webhookURL, content="Uptime: " + str( round( ((get_uptime() / 60) / 60 ), 2 )) + " hours. Lat is " + str(loc[0]) + ", long is " + str(loc[1]))
+
+camera = PiCamera()
+sleep(3) # let iso settle out
+camera.capture('still.jpg')
+
+with open("still.jpg", "rb") as f:
+	webhook.add_file(file=f.read(), filename='still.jpg')
+response = webhook.execute() # Hit send
+
diff --git a/crawler_software/servo_test.py b/crawler_software/raspberry_pi/tests/servo_test.py
similarity index 100%
rename from crawler_software/servo_test.py
rename to crawler_software/raspberry_pi/tests/servo_test.py
diff --git a/crawler_software/raspberry_pi/tests/stack_overflow.py b/crawler_software/raspberry_pi/tests/stack_overflow.py
new file mode 100644
index 0000000..38e1d7a
--- /dev/null
+++ b/crawler_software/raspberry_pi/tests/stack_overflow.py
@@ -0,0 +1,20 @@
+import smbus
+import time
+import struct
+
+# for RPI version 1, use bus = smbus.SMBus(0)
+bus = smbus.SMBus(1)
+
+# This is the address we setup in the Arduino Program
+address = 0x04
+
+try:
+    for _x in range (0, 2):
+            for i in range(78, 130):
+                    bus.write_i2c_block_data(address, 0, [1, i])
+                    time.sleep(0.02)
+            for i in range(130, 78, -1):
+                    bus.write_i2c_block_data(address, 0, [1, i])
+                    time.sleep(0.02)
+except OSError:
+    print("Could not speak to ardujmemo")
diff --git a/crawler_software/raspberry_pi/tests/test_i2c.py b/crawler_software/raspberry_pi/tests/test_i2c.py
new file mode 100644
index 0000000..96bf7f3
--- /dev/null
+++ b/crawler_software/raspberry_pi/tests/test_i2c.py
@@ -0,0 +1,35 @@
+#  Raspberry Pi Master for Arduino Slave
+#  i2c_master_pi.py
+#  Connects to Arduino via I2C
+  
+#  DroneBot Workshop 2019
+#  https://dronebotworkshop.com
+
+from smbus import SMBus
+import time
+
+addr = 0x8 # bus address
+bus = SMBus(1) # indicates /dev/ic2-1
+
+numb = 1
+
+print ("Enter num")
+
+for _x in range (0, 4):
+	for i in range(76, 130):
+		bus.write_byte(addr, i)
+		time.sleep(0.02)
+	for i in range(130, 76, -1):
+                bus.write_byte(addr, i)
+                time.sleep(0.02)
+
+#while numb == 1:
+#
+#	ledstate = input(">>>>   ")
+#
+#	if ledstate == "1":
+#		bus.write_byte(addr, 0x1) # switch it on
+#	elif ledstate == "0":
+#		bus.write_byte(addr, 0x0) # switch it on
+#	else:
+#		numb = 0
diff --git a/crawler_software/raspberry_pi/tests/test_tx.py b/crawler_software/raspberry_pi/tests/test_tx.py
new file mode 100644
index 0000000..747b9ed
--- /dev/null
+++ b/crawler_software/raspberry_pi/tests/test_tx.py
@@ -0,0 +1,12 @@
+import RPi.GPIO as GPIO # Import Raspberry Pi GPIO library
+from time import sleep # Import the sleep function from the time module
+
+GPIO.setwarnings(False) # Ignore warning for now
+GPIO.setmode(GPIO.BOARD) # Use physical pin numbering
+GPIO.setup(12, GPIO.OUT, initial=GPIO.LOW) # Set pin 8 to be an output pin and set initial value to low (off)
+
+while True: # Run forever
+ GPIO.output(12, GPIO.HIGH) # Turn on
+ sleep(1) # Sleep for 1 second
+ GPIO.output(12, GPIO.LOW) # Turn off
+ sleep(1) # Sleep for 1 second
diff --git a/working/working.jpg b/crawler_software/raspberry_pi/working/working.jpg
similarity index 100%
rename from working/working.jpg
rename to crawler_software/raspberry_pi/working/working.jpg
diff --git a/photos/TEST_PATTERN.jpg.kra b/photos/TEST_PATTERN.jpg.kra
deleted file mode 100644
index 7028117..0000000
Binary files a/photos/TEST_PATTERN.jpg.kra and /dev/null differ
diff --git a/photos/camera_latest.jpg b/photos/camera_latest.jpg
deleted file mode 100644
index 7ffc30e..0000000
Binary files a/photos/camera_latest.jpg and /dev/null differ
diff --git a/requirements.txt b/requirements.txt
deleted file mode 100644
index 7ecfacd..0000000
--- a/requirements.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-PySSTV
-picamera
\ No newline at end of file