Twitch Robot Controller

This project provides a twitch chat interface for the OWI Robotic arm, as well as megapi. It is intended to run on Raspberry Pi, but can be used on any linux computer.

Setup

If you're using a camera, I reccomend first installing mjpg_streamer. it provides a fast low latency stream you can injest into your streaming software of choice.

Setup Python

• Requires Python 3.12
• Download Python, extract the folder.
• Enter the folder and run the commands

sudo make -j 4
sudo make altinstall

• run python3.8 -V to verify you have the right version.

Setup Drivers

• Download the robotic_arm_driver submodule
• Install your kernel headers this will require

sudo apt install build-essential raspberrypi-kernel-headers

• Then compile the driver

cd ./robotic_arm_driver
make

• This should output a robotic_arm.ko file that will be used as the arm's driver.

Configuration

• open the twitch_arm/ directory
• create a .env file with the following variables

# ./.env
TMI_TOKEN=oauth:abcd123 	# Twitch oauth key
CLIENT_ID=oinhaoifsas 		# Twitch client id
BOT_NICK=my_twitch_robot 	# Twitch client nickname, this matches the bots screename
BOT_PREFIX=! 				# The character that will prefix all the bot commands.
CHANNEL=my_twitch_channel 	# The channel the bot will join.

• Edit the TwitchBot.service file so WorkingDirectory= is the same directory as start.sh, and ExecStart= points to start.sh.
• Commands can be configured in the bot.py file.

Running the bot manually

• Install the kernel module insmod robotic_arm_driver/robotic_arm.ko
• Configure permissions on the devices sudo chmod -R 777 /sys/bus/usb/drivers/robotic_arm/*
• Run the bot pipenv run python bot.py
• The script will search for available devices, and move one at a time and ask for an "l" or "r" to define the left and right arm.
• Once the devices are discovered, you will see a message "Logged in as | ". Your robot is now online!

Setup Run on boot

• Copy the service file into systemd

sudo cp TwitchBot.service /etc/systemd/system/TwitchBot.service

• Reload the daemon, and enable the service.

sudo systemctl daemon-reload
sudo systemctl enable TwitchBot

Running the bot rom systemctl

• Start the service.

sudo systemctl start TwitchBot

• Check on the bot's status

sudo systemctl status TwitchBot

Twitch Commands

All movement commands can be ammended with a time in seconds to run.

• !gripopen !go Opens the grabber
• !gripclose !gc Closes the grabber
• !baseleft !bl Turns the base left
• !baseright !br Turns the base right
• !wristup !wu Tilts the wrist up
• !wristdown !wd Tilts the wrist down
• !elboup !eu Tilts the elbow up
• !elbowdown !ed Tilts the elbow down
• !shoulderup !su Tilts the shoulder up
• !shoulderdown !sd Tilts the shoulder down