How to get sensor input for control (Beginner Question)

[szlztt]

Thank you for your recent help with CF.
Now that I have managed to learn a little bit of Python and was able to get CF to respond to the Ramp.py example I would like to go to the next level and get sensor input for use in eventual autonomous flight.

I know a number of you out there have done this but I need to be directed to a tutorial or link to help me get a sensor attached to the expansion header and obtain it's output for use.

Thanks for the help.