I would grab
a lot of wire off andymark (the gauges you'll need are in the manual). You need
heatshrink,
electrical tape, a
soldering iron,
connectors,
wire strippers,
crimpers, a
very small flathead screwdriver for the WACO connectors, a
somewhat larger flathead screwdriver for the PD board,
wire cutters. All that and a
stress-relief ball 
When wiring
anything to the PD board, be sure to read the manual to see what
fuse to place on that device. And when wiring signal wires, be sure to
communicate well with your programmers; they have settings that
have to be right on the electrical side for your robot to perform correctly. Also,
here's an awesome pdf on everything
electrical on your robot.
Happy building!