How to wire SRX MAg Encoder to RoboRIO?

Technical
1

This is sort of related to my last post, we couldn’t figure out how to connect our SRX Mag Encoders to the SparkMax data port and get it to work, so for now we’re doing an open-loop swerve control.

Apparently, you can connect them to the RoboRIO [1] via PWM ports, however we couldn’t figure out a way to do that, maybe we missed something in the manual, but I don’t see a way to do this.

[1]: CTRE Mag Encoders to RoboRIO DIO ports? and
Wiring CTRE SRX Mag encoder to Roborio

2

Go to this page, scroll down about 2/3 of the way, and look for a paragraph in bold.

3

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