Rev through bore encoder when using brushed motor

[Yu_Yue]

Can we use absolute mode when using brushed motor?
Is it directly connect to the front encoder data port which designed for brushless motor?
And how can I get the instance in the code?
I had tried to connect it to roborio DIO, and use DutyCycleEncoder class to access it. But we couldn’t get value from it.

We connected it by this.

So, I want to know if there are another way to use absolute mode under brushed mode.
Thanks for answers

[tkchan]

You can connect the A (Blue) and B (Yellow) directly to 2 of the DIO on the RoboRIO. [Please check the color wire on the spec to be sure - Through Bore Encoder - REV Robotics]

If you are going to use the encoder, I would highly recommended reading the Encoder section of the WPILIB docs - Encoders - Software — FIRST Robotics Competition documentation