Read the StampWorks Manual. It's downloadable from Parallax and there's a chapter on each topic. There are also several Nuts and Volts Columns on the subject also downloadable from Parallax. Go to their main webpage and click on the Resources tab. You'll see a link to the Nuts and Volts Columns index. For the StampWorks Manual, just search the Parallax website for "StampWorks".
The Microchip MCP23S17 and MCP23S08 are nice I/O expanders that use the SPI protocol so you could use SHIFTIN and SHIFTOUT statements to control them. If you only need inputs, you can use a 74HC165 shift register as described in the StampWorks Manual. If you only need outputs, you can use a 74HC595 shift register, also as described in the StampWorks Manual.
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