Camber is the angle of the wheels in relation to the horizontal plain. Negative camber makes the wheels look like this when viewed from the front //____\\ Wheels perfectly vertical would be 0 camber. If this is for an on road car, start with 1.5* of negative camber on the front wheels, and 2* on the back and work from there.

Caster is a bit tougher to explain, but basically, it's how far forward or back (always back though) the steering axis leans. It's mainly used to prevent bump steer and make directional transitions less violent. Try this site, it's really great for understanding setups. http://users.pandora.be/elvo/