Need help with Navio 2! Newbie

I am completely new to using the navio 2, and I am currently working on building a rover. I have done most of the hardware and software setup, and have managed to get the device connected with APM planner 2.0.2. However, this is where I am at a loss at what to do. How do i verify that the motor and servos for the rover are connected correctly? How do I make the rover move? Any tips and help would be greatly appreciated, thanks!