I know I'm not the only one with the problem, so I'm going to post my progress so maybe I could help someone else with the issue.
The problem with the WiFi card was easy; it was loading the wrong drivers for it. Check and make sure it's detecting your card correctly and loading the correct drivers.
I'm at the point now where it connects to my network and pulls an IP all the time, but it does not set up internet. I'll post more when I figure out why.
For reference, I am doing it from the command line. I'm use to that because of my laptop. I have different connections for different places. My apartment wifi, my apartment wired, school, warwalk and others. It wouldn't make sense to have one connection for everything.
The commands I use to connect are:
iwconfig eth0 essid routeressid nick Zaurus
udhcpc -i eth0
It's pretty straight forward.