[jman4747]

Originally Posted by matan129

Also, how does the communication between the board and the RoboRio/cRio work?

The R-PI UART pins should plug directly into the RoboRio MXP ports' UART pins. I don't know if level shifting is required between those UARTs. On the CRio you need to plug the R-PI UART into a RS-232 to UART converter. Conversely you should try to look at what you can get away with by using just GPIO. Just remember you need to use some sort of level shifting between the R-PI and CRio/RoboRio GPIO.