u can either use this manual:
http://www.innovationfirst.com/FIRST...sersManual.pdf
Which tells how to wire up the solenoids to spikes
This has the wiring guide for the digital inputs and analog inputs on the controller (digital inputs are where u would connect the pressure switch)
http://www.innovationfirst.com/FIRST...ence_Guide.pdf
The pneumatics manual can be found here:
http://www2.usfirst.org/2003comp/pne...anual_2003.pdf
And check the regular robot manual for a sample of which pins might be used for certain sensors.