prototyping using roborio and vex 393 motor

I would like to build a 1/3 scale prototype using vex motor for my team. The plan is to connect the roborio’s pwm output to a vex power expander to drive vex 393 motor. Also planning to power the roborio with a vex battery. Has anybody try that. Will this work. Any help appreciated.

That seems complicated to me.

Why not use this to generate the PWM signal:

Plug that into a standard motor controller, and the motor controller into the 393?

I am building a 1/3 scale fully functional prototype( chassis , shooter, ball intake, defense manipulator). I have a pwm signal generator already.