Vex Motor Help with FRC Robot

I’m trying to connect a vex motor to a frc robot. I’m not sure where to connect the vex motor cable. Is it connected directly into a pwm port or to a speed controller? Same thing with a relay?
Any help is apreciated.

Thank you in advance.

The Vex motor connects to a PWM port. You will need to make a female to female adapter, or, re-terminate the lead on the motor. Remember, this will be powered by the Backup battery.

To my knowledge, you would not be able to use the relay ports or spike with the vEx motor. Think of the vEx motor as an FRC motor with a built in victor, and thus the only way to control it sans modification is with a PWM signal.