Talon SRX and Analog Encoders

[TBots]

We just got some Talon SRX motor controllers and are working on understanding all of their potential. Mainly, we need to figure out how to hook up and use a magnetic absolute encoder (MA3) to each of our SRX. The SRX will be what controls the turning of our wheels in a swerve drive.

I've hear that the SRX have 'built-in' PID controllers. Is this true? And if so, do I still need to include PID in our labVIEW programming?

There are several examples of using the talon SRX in the software manual that was included with the SRX, but we are unable to distinguish which of them we are meant to use.

Thank you for the help!