Greybus is an application layer protocol developed originally for Google's modular smartphone project Ara and is a part of the Linux kernel, Greybus can be thought of as an Remote Procedure Call(RPC) framework which has tight integrations within linux kernel subsystems. In the past there has been multiple attempts for using Greybus for IoT applications where a remote node running generic greybus firmware will appear on the host running Linux as virtual devices and users can hook device drivers to these virtual devices. Thus reusing existing device drivers in Linux for remote microcontroller nodes running Zephyr greybus firmware(See https://git.beagleboard.org/beagleconnect/freedom for more info). This presentation discusses the method of using the greybus for robotics applications an real-time control applications where the traditional greybus frameworks transaction delays are not practical, thus a method of record and playback is added to the RPC framework on the Zephyr remote side which helps offload real-time control applications through greybus. The presentation also will include a demonstration of running a control loop on a remote microcontroller node running Zephyr and Linux host controlling through userspace drivers without modifying remote node firmware.