RPi controlling an Arduino with a PN532 shield

Good morning!

Obligatory "I'm new" statement. I jumped into RPi because I wanted to learn programming and quickly ended up with a project.

I want to create a piece of hardware which reads a barcode then writes that information to an RFID tag for the purpose of tracking inventory.

I currently have a RaspberryPi 3 which I intend to use to control the Arduino Uno which has an Adafruit PN532 shield installed. The current barcode reader is a USB acting like a keyboard input when the button is pushed.

I have no problem using the PN532 through the Arduino programming tool. I have also seen it pinned out to the RPi with decreased functionality. To date I have successfully written a JS program on the RPi in Johnny-five which causes an led bulb to blink when I press a button on the Arduino Uno.

What I believe the proper configuration would be for this project: RPi running Johnny-five and PiFirmata controlling the Arduino Uno via USB to utilize the functionality of the PN532 Shield.

The problem: I just can't figure out how to get all the information from the PN532 sketch to work through Johnny-Five...or just tell Johnny-five how to control the PN532 with JS.

Can any of you help set me straight here?