[apalrd]

I'm not at the BotCave right now, so I'll use a picture from AndyMark's site. You plug the encoder cable into the encoder board, make sure it is in. Then, you place the cover on top of it so you can see how the labels line up. You take two PWM cables, and cut the male end off of them. You strip all three wires of one and only the white or yellow wire from the other. You connect the red wire from the first cable, to the cable that matches with the "+5v" on the encoder. Solder it and wrap the connection in electrical tape or heat tubing. Then, connect the black wire from the first cable to the wire that matches the "gnd" on the encoder. Then, you connect the white or yellow wire from the first cable to the "A" wire on the encoder. You connect the white or yellow wire from the second cable to the "B" wire on the encoder. You plug the two PWM cables into the Digital SideCar in the Digital IO section, not the PWM section. The black wire goes to the outside. If the software sees your robot going backwards, you need to switch the two PWM cables on the Digital Sidecar so the A is where the B was and the B is where the A was, or set the gain negative.