Do you have all the necessary hardware that supports the cRIO?
There are modules that plug into each of the 4 slots on the cRIO. The modules used for FRC are one digital I/O module, one analog I/O module, and one pneumatics module. '
The Digital I/O module has a connector on it that would then connect to the Digital Sidecar (
http://www.andymark.com/product-p/am-0866.htm). This would have the familiar breakout pins to connect any standard PWM motor controller. (Victor, Talon, Talon SR, Victor SP, Spark).
Note that FRC-specific components are significantly more expensive than hobby counterparts. If you're looking to use these for a personal project, there are many more cost effective solutions. For example, AM sells this kit:
http://www.andymark.com/product-p/am-2972.htm