[BradAMiller]

Here is an example of running commands whenever a joystick button is pressed. You can also associate commands with buttons from the Cypress module or any arbitrary polled trigger (see Trigger class).

http://Wpilib.screenstepslive.com/s/3120/m/7952/l/97457

Besides using whenPressed() you can also call whenReleased() to get a command to run when the button is released or whileHeld() to get a command to repeatedly run while the button is pressed.

Brad