I finally got the code working to upload to the cape from the Raspberry Pi! However...
In order to test that the communication was working, I plugged in the simplest test setup handy - the servo. The second the pins made contact, I heard the servo twitch and then lost power to the Pi. I quickly unplugged, but to no avail. Even when disconnected from the cape and powered by the onboard USB mini, I don't even get a power LED.
I am not really sure why this may have happened. The Pi is essentially wired just like a BeagleBone would be, getting 5v from the same pin. My only thought is that somehow the servo may have been wired wrong...? I connected it according to the wiki:.Any ideas? Could the connector in the picture simply be upside down?