I need some help with routing

[eluser]JesseR[/eluser]
I have a url that currently looks like this :

http://www.domain.com/anything/anything_...YCODE.html
http://www.domain.com/anything/ITEMID.html

MY CI file for CATEGORIES is index.php/categories/getCategories/CATEGORYCODE
MY CI file for ITEMS is index.php/categories/getItem/ITEMCODE

My current website that does not use CI uses this link structure.
Can anyone advise how I can setup routing to work with the above
link structure?