If you are coding your robot in C++ then you can simply use the SimpleRobot example that can be accessed by going to File---New---Example---Downloadable Kernel Project---SimpleRobot---open that up and build your project. Then deploy your project to your robot. You will notice in that example that you have two drive motors connected to port 1 and 2 of your side car. You have your set up correct: Motor to jaguar (M+ and M- Side) and then from there you take wires to your Power Distribution board. You have to remember that you also have to plug in a PWM cable from your jaguar to the digital sidecar ports 1 and 2. You might have to play around with how to plug in the PWM's because sometimes you might get them flipped; just flip them over if needed and you should have two running motors. If you want to add motors then you will have each motor usually connected to a jaguar and that jaguar gets data/integer values from your code that are transmitted through the digital sidecar (blue thing). Make sure all your major components (power distribution board, side car, cRIO, etc
are getting power. The dis-functioning of one of these components can cause others to cause technical difficulties which will make it harder for you. you can also read the US FIRST resources and perform a benchmark test, which helps you better understand how all the electronic components are set up.
Hope this helped.