[nathanwalters]

My team (WildStang) set up an I2C link between the cRIO and an Arduino serving as the LED controller. In our cRIO code, we had a class that watched for events of interest, such as our kicker firing or intake motors turning on, as well as the robot state and alliance color. Upon those events, we sent a series of bytes indicating which event just took place to the Arduino. The Arduino watched for said bytes, and when it got them it illuminated the LEDs in a predefined pattern. We plan on releasing our code base at some point this year, so you'll be able to see exactly how we did this (we also used Java.)