As far as the cats go, it's all about the meat, no fruit or veggies required (although you could add some low-glycemic veggies like cooked zucchini or green beans for the soluble fibre if they have digestive issues transitioning from a high fibre kibble. But not more than 5%). I wouldn't feed them much fish either, if at all. The occasional nibble of sardines or salmon for a treat is okay, but there are too many problems associated with feeding fish to make it a regular menu item.
The issue of to grind or not to grind can be a little complicated. While it would certainly be easier if your cats took to a whole prey model right away and were cool with chowing down on bones and organs in the appropriate proportions, that is rarely the case with cats raised on commercial kibble. Have you ever offered them some fresh raw muscle meat before? If so, did they like it? That would the first step. Then soft bones like chicken necks and wings, along with organs. It can be a slow process to convince some cats that raw meat is actually food. Might be easier to start with a good canned food and gradually work up to a balanced raw diet.
There is a little more flexibility when feeding dogs than there is with cats. It's especially important to get the calcium/phosphorus ratio correct, and to make sure there's enough taurine being consumed. Grinding helps ensure that the meals are indeed balanced, especially if you have a finicky cat who refuses to eat bones and/or organs. If you haven't seen this site, I recommend checking it out for some detailed info on making your own cat food: http://www.catinfo.org/makingcatfood.htm
There are also tips here on how to transition a cat off of kibble: http://www.catinfo.org/#Transitionin...o_Canned_Food_