Ethernet tethering at regionals

[SuperBK]

Now that our first regional is behind us (Palmetto), I was wondering about something.

I noticed that Ethernet tethering was hit and miss at the regional with the radio programmed for competition and set in bridge mode. We switched to USB, which I know why it was reliable (the driver assigns a 172 address). So I got to wondering, should we be able to tether over Ethernet? If so, where does the IP address come from? I noticed when it didn't work, it had an address that started with 169, which is an autoconfigutation address, so no DHCP server. How did it work over ethernet at all if it couldn't get an IP address?

Where does the IP address come from when the robot is connected to the FMS? Where is the DHCP server in that case?