It's more of which libraries you include from the SDK. There is a servo library and several comm libraries/examples to choose from. You will also have to add the serial/usb library for the master. You will have to combine these yourself, there isn't an out of the box solution.
As far as physical connections, they are detailed in the servo code comments and give the pin numbers etc. Using all 6 servos leaves 3 analog inputs free. I've tested this extensively and it works quite well. I'm getting a good 50-60ft of range outside. My application is setting garden scale model train turnouts and assorted animatronic things and this does the trick.
I setup my breakout board h/w like a standard R/C rx module, the center pins are vcc with the two side pins gnd and signal. I bring out all of the servos, the analog inputs and the ttl serial rx/tx lines. The servo power pins are from the main input power, the analog power pins come from the 3.3v power of the Wixel.
Anyhow, with a good power supply, I can get the Wixel to drive a servo over 100 ft of twisted wire which is a bit ridiculous! I love this little board