Can someone tell me what would be a good guide book or website to understanding how to use programming wires?  Even better would be any upcoming classes for coaches that deal with advanced programming.  I'm having trouble wrapping my head around how they work, and I can only use a few reliably.   (I'm in the NN/Williamsbrug area, but I will travel a little ways to take the class.)
Does anyone know if Carnegie Mellon's Robotics 2 teaches wires?
Thanks in advance,

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