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The response will come from the unicast IP address, and you'll now know it. Otherwise, hand-craft an all-hosts-this-subnet (255.255.255.255) broadcast ICMP ECHO packet and send it to the unicast MAC address of the machine you are interested in. In the properties window for the adapter, select Internet Protocol Version 4 (TCP/IPv4) and then click the Properties button.

The easy answer is "promiscuously listen to traffic and see what the source IP address is on packets that match the MAC address you are interested in (important safety tip: on 802.* frames, the destination MAC address is sent first, for reasons beyond the scope of this posting). In the Network Connections window, right-click the adapter for which you want to set a static IP address, and then select the Properties command. Let me rephrase your question: absent any other IP traffic on the network, and knowing the MAC address of another device, how can you find its IP address?

The reason you can see the arp cache (the mapping between IP and MAC addresses) on your RPi or any other computer is that they've presumably been on for a while, have heard ARP responses from other machines on the network, and have cached them. This is a general networking question, not limited to any microcontroller. Launch the Terminal Emulator Just type the following command: ip link set wlan0 address XX:XX:XX:YY:YY:YY, where wlan0 is the name of the interface and XX:XX.