https://www.vexforum.com/t/tutorial-linking-vex-brain-v5-with-arduino-or-raspberry-pi-esp32-etc/115687?u=lijh
I read this before,it told me a way to connect the raspi with the V5 brain by the smartport,and it communicated by pretending to be a Raspberry Pi as a motor,but I not sure can it realtime—communicate.