I just want to add that the command flow is:
FMS -> Driver Station -> Field AP -> Robot radio -> cRIO
FMS orders the Driver Station to do something (Disable, Autonomous, Teleop, eStop, Bypass), and the Driver Station passes the order (and it's own user control commands) along to the robot.
All occurs on a VPN individual to each team, so there are six VPNs operating in parallel while the robots are on the field.