[mshafer1]

My team utilizes Encoders for several reasons, although this year our encoders went on the Roborio's built in DI/O pins, we did use the Rev Robotics breakout board to control an arduino that runs some indicator lights for us.

You can indeed wire to the DI/O pins on the breakout board in much the same way as you would have in the past (I am assuming that by single cable you mean it is still an absolute optical encoder with A and B channels), and the only difference would be when you call them in begin.vi (assuming LabVIEW), that the ports become MXP DI/O __ (where blank is the channels you select).

If you mean by single cable that you are using a incremental encoder, you would just wire it's signal wire to a DI/O as if it were one of the channels (A or B) from past years, and set it up appropriately in the code (MXP or not).

If you are not using LabVIEW, then you will have to check, but I'm am fairly certain that C++ and Java (whether in Robot Builder or not I'm not sure) offer the option to use an MXP DI/O in a very similar way as using the DI/O's on the rest of the Roborio.