If you can get on the Cisco switch you can do:
sh cdp neighbors
It will list each Cisco device on it and the port which it is connected to. It will also provide it's hostname if set, the type of device it is, if there are other switches on the network this would help you find those also.
Lets say that it told you that one of the APs was on port Gig3/36 then you can do:
#sh mac-address-table | inc 3/36
1 0011.85d7.facc dynamic ip GigabitEthernet3/36
Now you have the mac you can do:
sh arp | inc facc
Which will give you the IP address.
You could also download and bootup a Knoppix CD and use nmap to map the network.
