No, I haven't found one yet, but i'm not sure one is needed. It is pretty straight forward. That said, they will probably provide one soon.
http://www2.usfirst.org/2008comp/Man...on_Diagram.pdf
wire 3 (-) and 1 (+) or 4 (-) and 2 (+) for power. (when wiring to the robot make sure to follow wiring rules, such as wiring it to a fuse.)
wire 5,6,7,8 to their own white wire on PWM cable, and connect black wire from cables to ground.