[mjcoss]

I have code that we used last year to have the driverstation send data to the crio. It spawns a task, and while it wasn't used to move the robot, it may help with what you are trying to do.

I'll post it when I get home. It is udp, not tcp because I didn't think we need the over head for what we were doing, and could afford to lose messages if need be. And it's not really robust but ...