This should help you:
http://www.usfirst.org/sites/default...20System_2.pdf
Id recommend putting together some sort of test board to practice wiring since you've never done it before, before you have to do it for real on your competition robot. If you want to set up a board, send me/us a pic and Id be happy to check over all of your connections for you (As well as others on the forums here)