Assuming this will be your competition configuration, you will want to put a switch/hub on your robot so that you can easily tether to your robot during competitions.
I suggest figuring out a way to send the picture directly from the Pi to your DS. Minimize what you have to do through your RoboRio.
This might be helpful
http://raspberrypi.stackexchange.com...y-pi-to-laptop
You can also put an IP camera on your robot that connects to the DS.