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I'm not sure what you're referring to. Are you talking about the limitation that you can only read/write 4 bytes at a time? We just made sure the protocol we used over the I2C bus conformed to the cRIO's I2C limitations (I don't believe the limitations are anything related to WPI but rather the FPGA image inside the cRIO).
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ok, it was very hard for us to get our compass to work with it, so we decided not to try to use it.
how should i set up the IMU code? should i send a byte from cRio to arduino
then depending on the byte return a different value? or try to fit as much data into 4 bytes as i can?