The easiest way, by far, is to use the existing capabilities built into the Driver Station app.
On the I/O tab, without a Cypress connected, all the switches are usable and can even be re-named.
They all are already available in your robot's code.
Adding a simple
UDP send/receive would be one typical path to get data from the Dashboard to the robot.
Another would be to investigate the LabVIEW
network tables, a late addition to the FRC LabVIEW source forge project.