Hello everyone, this is my first post in here so forgive me if I make any mistakes
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Last year, in the Turkey 2015 FRC Off-Season, we used OpenCV on a Raspberry Pi to locate the high goal and rotate towards it in autonomous. The RPi code worked wonders, but we had problems getting the roboRIO to communicate with the RPi. As a last minute solution, I wired up an Arduino between the two, so that the Python script on the RPi printed its output to the virtual TTY created by the Arduino, and then I wrote a small script for the Arduino which converted coordinates read from the serial input into 2 digital outputs(0,1 for 'turn right', 1,0 for 'turn left' and so on) which we hooked up to the roboRIO, which worked but wasn't the greatest solution ever.
This year, I'd like to use a cleaner solution for this, so I looked into I2C(we had problems with it back then). However, I could only find the WPILib class documentation which is fairly basic and even recommends against the use of the class except internally for sensor classes. I wrote some test code using ReadOnly, but couldn't get it to work(I currently don't have access to the code since I'm home, but I'll try to post it here on Monday). What mainly confused me was that the API wanted a register address, but no such thing is used in to Arduino Wire library. If any team has gotten I2C with Arduino to work on a master reader/slave writer basis, please let me know on how you achieved it.
My question is, are there any resources on how to do very basic communication between a Raspberry Pi and the roboRIO? At the moment, we only require one-way communication(RPi writes, roboRIO reads) but we could use a more versatile solution. I've looked into NetworkTables but the resources on how to use it with a roboRIO and another device was even scarcer than I2C.
Oh, and by the way, we use C++ but I posted this on the Programming forum because of how similar WPILib is between languages.