We have a backup gearbox for our elevator and we recently swapped that gearbox to use NEOs and SPARK Max Speed Controllers. I am using the internal encoder in the NEO to act as feedback for our PID. The feedback seems to be very choppy and thus the gearbox is extremely jumpy. I see I can plug in a CTRE Encoder into the NEO, will this improve the “jumping” if the PID control? Also where can I specify in the SPARK Max Code to look at the plugged in CTRE Encoder for feedback?