Interface between HDC2540 and Arduino Uno

I have a joystick application on an Arduino Uno that generates messages in the range of -1023 to 1023 for each axis. I'm trying to understand what form the Arduino needs to decode this range to create PWM signals for input as pulse signals for the Roboteq and the range Roboteq is expecting.

Thanks

Thanks for the reply
I'm looking at Table 8 of the HDC24XX datasheet, Version 1.5 and I see a frequency capture - is this the same as pulse duration