[techhelpbb]

I don't think I've seen anyone do this but you could interface other sensors to the Raspberry Pi just like a CMOS camera module.

So you could: read encoders, hall effect sensors, gyros, compass and the like and front end the processing of those sensors for the cRIO. Perhaps in combination with machine vision (say like a camera system that knows it is oriented up-side-down).

I doubt most people see a real need for this, but it is possible and I think legal in FRC.

What you can not do is drive the motor controllers bypassing the cRIO entirely (because of the field safety systems).