Walk through the control system manual here:
http://www.usfirst.org/community/frc....aspx?id=10934
I know, it's 5 chapters, but if you follow the instructions for the benchtop test, it tells you exactly how to go about wiring all the basic components together.
Also available on that page are two pretty important pictures. The Power Distribution Diagram and the Control Layout Diagram should give you your "lego" approach for wiring everything together.