How to hook up raspberry pi 2 to the roborio

My team has just competed in a district competition. We had developed code and a system for identifying the low goals using the rpi camera and a raspberry pi 2, the identification worked but outputs over i2c did not. How do we use the output to turn the robot in auton via i2c? Also does anyone have photos of the low goals, we had to use the high goals and sometimes it would go to the one in the middle and photos of the low goal would be helpful.