The Pools striker, who forced a fine save from Robins keeper Scott Brown early in the match, struck in 53rd and 71st minute to cancel out Cheltenham's Jermaine McGlashan's fourth minute opener and Kemar Roofe's first goal for the club.
"We got back into the game by Franksie having a gamble," said Cooper, who has not seen his side win away from home since the middle of October.
"I thought he really enjoyed his chance through the middle, because that is where he wants to play, he took his chances nicely.
"The goalkeeper made an excellent save for one, he could have comfortably had a hat-trick and that's really good. Luke (James) has taken a few batterings and Franksie has been champing at the bit."
Cooper was pleased with the way his side came back into the match having fallen behind so early on.
He added: "I have to say we exerted pressure, we looked very nervous early on.
"I said to them at half-time, have you got in you to bring back, it wasn't pretty, but we got back into the game putting their defence under pressure."