[tseres]

okk...the gyro...
just use a pwm cable and match up the R W B wires (i forget the order, but it's printed on the gyro board). there's 2 sets of holes. one is for the gyro, the other is for a temperature sensor. just use kevin's code ( kevin.org/frc ) for the gyro, and test it with each set of holes.

Encoders:

not 100% sure (i just forget, check kevin's encoder code anf encoder FAQ for more info) but it takes 2 pwm cables. connect power (red pwm wire?) to power on the eocoder, as well as ground (black?). now, connect one white wire to the Phase A ouput on the encoder, and the white wire from the other pwm cable to the Phase B encoder pin. then, go to kevin's encoder code, and open up Encoder.h and read through it, editing what i/o pins you used (it's really quite simple).

Good luck!