koebelt-link (Python)

Connect a Raspberry Pi, a Jetson or any computer-driven robot to koebelt/dash.

pip install koebelt-link                 # Wi-Fi (UDP) only, no dependencies
pip install "koebelt-link[serial,ble]"   # USB serial and radios (pyserial), BLE peripheral (bless)
pip install "koebelt-link[camera]"       # dev.camera(): live video through OpenCV

from koebelt_link import Device, Vec3

dev = Device("Mule-2", kind="rover")
dev.connect(wifi=True)                   # or ble=True, serial="/dev/ttyUSB0", radio=("/dev/ttyAMA0", "sik")
dev.failsafe(timeout=1.8, action="hold")
max_spd = dev.param("MAX_SPD", 4, min=0.5, max=8, unit="m/s")

@dev.on_control
def drive(c):
    motors.set(speed=c.ry * max_spd.value, turn=c.lx)

@dev.on_stop
def stop():
    motors.brake()

while True:
    dev.publish("imu", accel=Vec3(*imu.accel()), gyro=Vec3(*imu.gyro()))
    dev.publish("lidar", points=lidar.scan())   # Nx3, metres
    dev.tick(hz=50)

• Channels: imu, att, pos, vel, gps, bat, rssi, joints, tool, ft, thrust, rpm, temp, throttle, rocket, lidar, tracks, and custom channels via dev.channel(...). Each built-in one also has a shortcut named like the Arduino and Rust ones (dev.position(x, y, z), dev.rocket_state(...)…).
• Links: wifi, ble, serial, radio (SiK, LoRa, HC-12, XBee or other: rates follow the shared radio profile), and fallback={"radio": (...)} for a second link that takes over telemetry when the first goes quiet.
• Bluetooth serial modules: module=("/dev/serial0", 9600) for an HM-10 or HC-05 on a UART; telemetry follows the baud rate.
• Video: dev.camera(0, label="Front") streams a webcam or Pi camera, or serve your own frames with MjpegServer and declare it with dev.video(srv.url).
• Callbacks: on_control, on_mode, on_arm, on_stop, on_reset, on_jog, on_cart, on_command, on_params_written, on_connect.
• Pairing: dev.pair("XXX-XXX") once. The key and saved parameters live in ~/.config/koebelt-link/<id>.json (override with KOEBELT_LINK_HOME).

Simulator

koebelt-link-sim --kind rover|drone [--pair CODE] runs a simulated device on UDP 47800. It is a reference firmware loop and a way to test the app's real network path.

python -m venv .venv && .venv/bin/pip install -e ".[dev]" && .venv/bin/python -m pytest