Connecting encoders

[TBots]

We are trying to make a swerve drive but have encountered difficulties with wiring and programming the encoders. We could really use some guidance in getting the encoders working if anyone has any ideas.

We have some older electronics since this is only prototyping. We are using a cRIO and talon motor controllers(not SRX), and several magnetic absolute encoder(MA3).

The encoders are meant to be able to detect the angle at which the wheels are turned, and change that angle when the joystick is triggered.

How do we connect the encoders to the cRIO? Is it analog or digital? And does anyone know the max voltage of the encoders? Is it 5? Is there a way to know?

Thank you for any help you can supply us with, this is our first time attempting something like this, and are still a bit lost on how to make it happen.

If it is relevant, we are using labVIEW.