[Alan Anderson]

If the "Communication" and "Robot Code" indicators on the Driver Station are green, you probably don't have any firewall issues. The battery voltage display needs a number of things to be installed correctly: an NI 9201 Analog Module in Slot #1 of the cRIO, with an Analog Breakout plugged in, the voltage sense jumper installed in the far pair of pins, and 12 volts connected to the power input from a 20-amp breaker in the Power Distribution Board.

"They" say the code is working, but that doesn't match not being able to control the robot. How do "they" know it's working?

You say there's a webcam connected to the cRIO, and you're able to view its images on the Dashboard. That's how things were set up a few years ago, but now the Axis camera is supposed to be plugged in directly to the D-Link router. Which way is it actually connected? If you're getting images with it connected the old way, it sounds like you're using an obsolete cRIO image.