VersaPlanetary Integrated Encoder without Talon SRX?

[koreamaniac101]

So I am interested in using the VersaPlanetary Integrated Encoders next year to control some of the mechanisms on my team's robot.

However, my team only uses Victor SP's for our motor controllers. Is there any way to use the Encoders without the Talon SRX's? On VEXPro, the description says:

The VersaPlanetary Integrated Encoder can be plugged directly into the Talon SRX by using the Talon SRX Data Cable, or you can solder on your own leads for plugging into the roboRIO.

What does soldering our own leads require? And where would they plug into the RoboRIO?