If you just want it to show a single color, you should just be able to plug the +12v wire into the positive on the PDP, and the R, G, and/or B wires (in any combination) into the negative on the PDP.
It would want more control, I would recommend using an Arduino and some transistors to control the channels with PWM. You could also try using the PWM outputs on the roboRIO, but their low frequency might cause come flickering.
This Adafruit tutorial should help with wiring the transistors to an Arduino (or to the roboRIO PWM outputs).