Cobra Flex

Mobile robot Cobra Flex with raspberry pi as its main brain communicating via serial with the car.

Projects

Directory	Description
pi-udp-2-cobra-usb/	C++ service running on the RPi — bridges UDP ↔ serial USB
cobra-client/	Python GUI client for sending commands / viewing feedback
scripts/	Utility scripts (serial probing, testing)
cobra_info/	Protocol reference (command list)

pi-udp-2-cobra-usb

Dependencies

sudo apt-get install cmake g++ libyaml-cpp-dev nlohmann-json3-dev
# For tests:
sudo apt-get install libgtest-dev

Build

cd pi-udp-2-cobra-usb
mkdir build && cd build
cmake ..
make -j$(nproc)

Run (manual)

./cobraflex-interface /path/to/config.yaml

Build .deb & install

cd build
cpack
sudo dpkg -i cobraflex-interface-*.deb

The service starts automatically. Config lives at /etc/cobraflex/config.yaml.

Uninstall

sudo dpkg -r cobraflex-interface     # keeps config
sudo dpkg -P cobraflex-interface     # purge (removes /etc/cobraflex)

Service management

sudo systemctl status cobraflex-interface
sudo systemctl restart cobraflex-interface
sudo journalctl -u cobraflex-interface -f   # live logs

Notes

• Single UDP port (default 5000) for both commands and feedback — feedback replies go to the last client that sent a command.
• Motor commands (T:1, T:11) are automatically repeated while speed ≠ 0.
• See docs/architecture.md for internals.

cobra-client

Run

cd cobra-client
pip install -r requirements.txt   # just pyyaml, tkinter is built-in
python3 cobra_client.py
# or with a config:
python3 cobra_client.py --config client_config.yaml

See cobra-client/README.md for details.

Connection

Wifi & Ethernet

First time wifi setup

sudo raspi-config nonint do_wifi_country SK
sudo nmcli radio wifi on
sudo nmcli dev wifi list
sudo nmcli dev wifi connect "YOUR_SSID" password "YOUR_PASSWORD"

Change wifi

run nmcli connection show, you will see something like:

OldWiFi
MyPhone
Wired connection 1

then

sudo nmcli dev wifi connect "NEW_SSID" password "NEW_PASSWORD"
sudo nmcli connection delete "OldWiFi"

Or

sudo nmcli connection add type wifi con-name "LabWiFi" ifname wlan0 ssid "LabWiFi"
sudo nmcli connection modify "LabWiFi" wifi-sec.key-mgmt wpa-psk
sudo nmcli connection modify "LabWiFi" wifi-sec.psk "labpassword123"
sudo nmcli connection modify "LabWiFi" connection.autoconnect yes

Some debug options

sudo nmcli dev wifi rescan # When cant connect to wifi
nmcli dev wifi list # List wifis 

Raspberry setup

TODO: from different pc

Serial

Main commands