This year our team is looking to use an openmv m7 (yes I know that there are other options out there like a limelight) but currently we are getting stuck on a way to communicate to the roborio. We are looking for a little guidance of what communication type is the best and what we should use and how to program it. I know that the openmv supports the following communication protocols i2c, spi , can, asynchronous serial bus. We program in java and we have experimented with i2c and the rs232 port but have failed to be able to read actual values from the openmv. For reference we would would like to return information about how far we are away from our vision target and the angle offset to the roborio.