diff --git a/companion_software/BasicBot.py b/companion_software/BasicBot.py
deleted file mode 100644
index d06675a..0000000
--- a/companion_software/BasicBot.py
+++ /dev/null
@@ -1,23 +0,0 @@
-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/companion_software/images/get_endpoint.py b/companion_software/images/get_endpoint.py
new file mode 100644
index 0000000..713a0f3
--- /dev/null
+++ b/companion_software/images/get_endpoint.py
@@ -0,0 +1,6 @@
+import json
+import robot_util
+
+url = '%s/v1/get_endpoint/jsmpeg_video_capture/%s' % ('https://api.robotstreamer.com', '4618')
+response = robot_util.getWithRetry(url)
+print(json.loads(response))
diff --git a/companion_software/images/robot_util.py b/companion_software/images/robot_util.py
new file mode 100644
index 0000000..a558584
--- /dev/null
+++ b/companion_software/images/robot_util.py
@@ -0,0 +1,126 @@
+import os
+import time
+import traceback
+import ssl
+import urllib.request
+import getpass
+import json
+import _thread
+
+
+ConfigFilename = "/home/pi/config_" + getpass.getuser() + ".json" #this is never used 
+
+KeepAlivePeriod = 6
+
+
+def times(lst, number):
+        return [x*number for x in lst]
+
+
+def getWithRetry(url, secure=True):
+
+    for retryNumber in range(2000):
+        try:
+            print("GET", url)
+            if secure:
+                object = urllib.request.urlopen(url)
+
+            else:
+                ctx = ssl.create_default_context()
+                ctx.check_hostname = False
+                ctx.verify_mode = ssl.CERT_NONE
+                object = urllib.request.urlopen(url, context=ctx)
+
+
+
+            break
+        except:
+            print("could not open url", url)
+            traceback.print_exc()
+            time.sleep(2)
+
+    data = object.read()
+    encoding = object.info().get_content_charset('utf-8')
+    return data.decode(encoding)
+
+
+def getNoRetry(url, secure=True):
+    #socket test has retry
+        try:
+            print("GET", url)
+            if secure:
+                object = urllib.request.urlopen(url)
+
+            else:
+                ctx = ssl.create_default_context()
+                ctx.check_hostname = False
+                ctx.verify_mode = ssl.CERT_NONE
+                object = urllib.request.urlopen(url, context=ctx)
+
+        except:
+            print("could not open url", url)
+            return
+
+        data = object.read()
+        encoding = object.info().get_content_charset('utf-8')
+        return data.decode(encoding)
+
+
+def sendSerialCommand(ser, command):
+
+
+    print(ser.name)         # check which port was really used
+    ser.nonblocking()
+
+    # loop to collect input
+    #s = "f"
+    #print "string:", s
+    print(str(command.lower()))
+    ser.write(command.lower() + "\r\n")     # write a string
+    #ser.write(s)
+    ser.flush()
+
+    #while ser.in_waiting > 0:
+    #    print "read:", ser.read()
+
+    #ser.close()
+
+
+
+def makePOST(url, data):
+
+    params = json.dumps(data).encode('utf8')
+    req = urllib.request.Request(url,
+                                 data=params,
+                                 headers={'content-type': 'application/json'})
+    response = urllib.request.urlopen(req)
+    return response
+
+
+def sendCameraAliveMessage(apiServer, cameraID, streamKey):
+
+    print("sending camera alive message")
+    url = '%s/v1/set_camera_status' % (apiServer)
+    print("url", url)
+    try:
+            response = makePOST(url, {'camera_id': cameraID,
+                                      'camera_status': 'online',
+                                      'stream_key': streamKey,
+                                      'type': 'robot_git'}) 
+                                    #todo:send unified stream key here
+    except:
+            print("could not make post to", url)
+
+
+
+def aplayFile(filename):
+        for hardwareNumber in (2, 0, 1):
+                _thread.start_new_thread(os.system, ('aplay -D plughw:%d,0 %s' % (hardwareNumber, filename),))
+                        
+
+def handleSoundCommand(command, keyPosition):
+        print("command:", command, "key position:", keyPosition)
+        if len(command) >= 6:
+                if command[0:5] == "SOUND" and keyPosition == "down":
+                        number = int(command[5:])
+                        aplayFile('/home/pi/sound/SOUND%d.WAV' % number)
diff --git a/companion_software/images/stream.sh b/companion_software/images/stream.sh
new file mode 100755
index 0000000..5bc6862
--- /dev/null
+++ b/companion_software/images/stream.sh
@@ -0,0 +1 @@
+ffmpeg -re -f image2 -loop 1 -framerate 24 -video_size 852x480 -r 24 -i Test-Pattern.png -f flv -s 852x480 -f flv "rtmp://rtmp.robotstreamer.com/live/4618?key=jEquBubjizYDMQNe8nKjLdu88iqFpNe3sVQmGRJ2tzbxd4QJrkSSEZBQhi9UTL3k"
diff --git a/crawler_software/raspberry_pi/tests/otp/Pipfile b/crawler_software/raspberry_pi/tests/otp/Pipfile
new file mode 100644
index 0000000..4f5d6e9
--- /dev/null
+++ b/crawler_software/raspberry_pi/tests/otp/Pipfile
@@ -0,0 +1,14 @@
+[[source]]
+url = "https://pypi.org/simple"
+verify_ssl = true
+name = "pypi"
+
+[packages]
+picamera = "*"
+PySSTV = "*"
+pyotp = "*"
+
+[dev-packages]
+
+[requires]
+python_version = "3.9"
diff --git a/crawler_software/raspberry_pi/tests/otp/Pipfile.lock b/crawler_software/raspberry_pi/tests/otp/Pipfile.lock
new file mode 100644
index 0000000..cbd8ec5
--- /dev/null
+++ b/crawler_software/raspberry_pi/tests/otp/Pipfile.lock
@@ -0,0 +1,88 @@
+{
+    "_meta": {
+        "hash": {
+            "sha256": "bd19925493e125dc5aa15b339778c61c21e0f1a5574097d1721abf99245fa605"
+        },
+        "pipfile-spec": 6,
+        "requires": {
+            "python_version": "3.9"
+        },
+        "sources": [
+            {
+                "name": "pypi",
+                "url": "https://pypi.org/simple",
+                "verify_ssl": true
+            }
+        ]
+    },
+    "default": {
+        "picamera": {
+            "hashes": [
+                "sha256:890815aa01e4d855a6a95dd3ad0953b872a6b954982106407df0c5a31a163e50"
+            ],
+            "index": "pypi",
+            "version": "==1.13"
+        },
+        "pillow": {
+            "hashes": [
+                "sha256:0b2efa07f69dc395d95bb9ef3299f4ca29bcb2157dc615bae0b42c3c20668ffc",
+                "sha256:114f816e4f73f9ec06997b2fde81a92cbf0777c9e8f462005550eed6bae57e63",
+                "sha256:147bd9e71fb9dcf08357b4d530b5167941e222a6fd21f869c7911bac40b9994d",
+                "sha256:15a2808e269a1cf2131930183dcc0419bc77bb73eb54285dde2706ac9939fa8e",
+                "sha256:196560dba4da7a72c5e7085fccc5938ab4075fd37fe8b5468869724109812edd",
+                "sha256:1c03e24be975e2afe70dfc5da6f187eea0b49a68bb2b69db0f30a61b7031cee4",
+                "sha256:1fd5066cd343b5db88c048d971994e56b296868766e461b82fa4e22498f34d77",
+                "sha256:29c9569049d04aaacd690573a0398dbd8e0bf0255684fee512b413c2142ab723",
+                "sha256:2b6dfa068a8b6137da34a4936f5a816aba0ecc967af2feeb32c4393ddd671cba",
+                "sha256:2cac53839bfc5cece8fdbe7f084d5e3ee61e1303cccc86511d351adcb9e2c792",
+                "sha256:2ee77c14a0299d0541d26f3d8500bb57e081233e3fa915fa35abd02c51fa7fae",
+                "sha256:37730f6e68bdc6a3f02d2079c34c532330d206429f3cee651aab6b66839a9f0e",
+                "sha256:3f08bd8d785204149b5b33e3b5f0ebbfe2190ea58d1a051c578e29e39bfd2367",
+                "sha256:479ab11cbd69612acefa8286481f65c5dece2002ffaa4f9db62682379ca3bb77",
+                "sha256:4bc3c7ef940eeb200ca65bd83005eb3aae8083d47e8fcbf5f0943baa50726856",
+                "sha256:660a87085925c61a0dcc80efb967512ac34dbb256ff7dd2b9b4ee8dbdab58cf4",
+                "sha256:67b3666b544b953a2777cb3f5a922e991be73ab32635666ee72e05876b8a92de",
+                "sha256:70af7d222df0ff81a2da601fab42decb009dc721545ed78549cb96e3a1c5f0c8",
+                "sha256:75e09042a3b39e0ea61ce37e941221313d51a9c26b8e54e12b3ececccb71718a",
+                "sha256:8960a8a9f4598974e4c2aeb1bff9bdd5db03ee65fd1fce8adf3223721aa2a636",
+                "sha256:9364c81b252d8348e9cc0cb63e856b8f7c1b340caba6ee7a7a65c968312f7dab",
+                "sha256:969cc558cca859cadf24f890fc009e1bce7d7d0386ba7c0478641a60199adf79",
+                "sha256:9a211b663cf2314edbdb4cf897beeb5c9ee3810d1d53f0e423f06d6ebbf9cd5d",
+                "sha256:a17ca41f45cf78c2216ebfab03add7cc350c305c38ff34ef4eef66b7d76c5229",
+                "sha256:a2f381932dca2cf775811a008aa3027671ace723b7a38838045b1aee8669fdcf",
+                "sha256:a4eef1ff2d62676deabf076f963eda4da34b51bc0517c70239fafed1d5b51500",
+                "sha256:c088a000dfdd88c184cc7271bfac8c5b82d9efa8637cd2b68183771e3cf56f04",
+                "sha256:c0e0550a404c69aab1e04ae89cca3e2a042b56ab043f7f729d984bf73ed2a093",
+                "sha256:c11003197f908878164f0e6da15fce22373ac3fc320cda8c9d16e6bba105b844",
+                "sha256:c2a5ff58751670292b406b9f06e07ed1446a4b13ffced6b6cab75b857485cbc8",
+                "sha256:c35d09db702f4185ba22bb33ef1751ad49c266534339a5cebeb5159d364f6f82",
+                "sha256:c379425c2707078dfb6bfad2430728831d399dc95a7deeb92015eb4c92345eaf",
+                "sha256:cc866706d56bd3a7dbf8bac8660c6f6462f2f2b8a49add2ba617bc0c54473d83",
+                "sha256:d0da39795049a9afcaadec532e7b669b5ebbb2a9134576ebcc15dd5bdae33cc0",
+                "sha256:f156d6ecfc747ee111c167f8faf5f4953761b5e66e91a4e6767e548d0f80129c",
+                "sha256:f4ebde71785f8bceb39dcd1e7f06bcc5d5c3cf48b9f69ab52636309387b097c8",
+                "sha256:fc214a6b75d2e0ea7745488da7da3c381f41790812988c7a92345978414fad37",
+                "sha256:fd7eef578f5b2200d066db1b50c4aa66410786201669fb76d5238b007918fb24",
+                "sha256:ff04c373477723430dce2e9d024c708a047d44cf17166bf16e604b379bf0ca14"
+            ],
+            "markers": "python_version >= '3.6'",
+            "version": "==8.3.1"
+        },
+        "pyotp": {
+            "hashes": [
+                "sha256:9d144de0f8a601d6869abe1409f4a3f75f097c37b50a36a3bf165810a6e23f28",
+                "sha256:d28ddfd40e0c1b6a6b9da961c7d47a10261fb58f378cb00f05ce88b26df9c432"
+            ],
+            "index": "pypi",
+            "version": "==2.6.0"
+        },
+        "pysstv": {
+            "hashes": [
+                "sha256:91f85096591606e774811de8940aef57f30e10cbf81387064f8a686cff0ac3fa"
+            ],
+            "index": "pypi",
+            "version": "==0.5.2"
+        }
+    },
+    "develop": {}
+}