[Ipiano]

It sounds like you don't have a large amount of experience so I'm going to start from the beginning; please don't take this as an insult, I'm just trying to cover all bases in case you're completely new to this.

Just a clarification: Talons, Victors, and Jaguars are not the motor itself, they are the motor controller--the hardware on the robot that takes power from the distribution board and sends it to the motor.

The controller will be connected to one of the outputs on the digital I/O board via a PWM cable; the number output on the I/O board will be used when you construct the object for it in Java.

What setup are you guys using? Are you using just the IterativeRobot base, or are you using a CommandBase pattern with/without RobotBuilder?

Essentially, the only code you need was in the first response from otherguy, you just need to construct an object of whatever kind of hardware is on the robot with the PWM output as the parameter and then you call .set(double speed) on the object.