Pwnage! This little guide is the best at getting beryl working, and is easy to understand too.
Howto: ATI Xpress 200M+ XGL + Beryl in Feisty

Another great tut, that's easy to use, and works like a charm.
Get Wireless working in Ubuntu 7.04 Feisty Fawn

Love you, love.
Ubuntu/Debian WPA Wi-Fi w/ Belkin Adapter

And of course, much love to myself.
A Semi-Ultimate Linux Motorola Slvr L2 Guide

All of these have been tested and are known to work.