Currently the PI and the Teensy are communicating over the serial port. (using a short 3" USB cable)
The plan was to make that i2c, but as i need the serial port anyways to program the teensy (it was put on the todo list)
Yes, the Arduino-1.6.13-linuxarm is just the IDE, but i am not sure if i still need it, as "platformio" does all the work nowdays. (Really should do a clean install once again )
MokiROV2 is a new branch of the old MokiROV software, which i started over 2 years ago. But ran into to many issues with the building part (i am a good tinker, better programmer.. but not a great builder) But thanks to BR, i restarted my ROV project and already made my first dives.
Now working on a 6 thruster version, with BlueROV2 frame