Using basic sensors/ power output

Hello, 
I am new to using ZedBoards as a tool for projects, but an embedded design course I am taking uses it as our primary controller of various hardware devices (robot arm, etc.). We now have been tasked with a final project that simply must link hardware and software in a task. My group wants to write C/C++ code to input from a digital infrared sensor and provide output to an arm interface (we are given code and connector pins for this) as well as a basic water pump. My question is, how should I go about making the connections to the board for the input (from a digital signal) and the output to the water pump (only needs to be sent ~5V of power depending on a variable amount of time to function for this project). 
Any advice/solutions would be helpful.
 
Thanks!