We had our Kangaroo connected directly to the "other" port of the radio and had absolutely zero problems with things working at competitions. As long as you are publishing your table to that roborio-3314-frc.local address, things will work just fine.
If you have it all working, you may not need any additional documentation... but I wrote up a pretty detailed document on how we configured and managed the programming of that same setup in another posting:
http://www.chiefdelphi.com/forums/sh...d.php?t=144070
The direct document link is:
http://www.chiefdelphi.com/forums/at...9&d=1456817499
Good luck!
-Scott