Some helpful links... You can re-find them by searching "PCM" in the FRC Screensteps search bar.
http://wpilib.screenstepslive.com/s/...control-module
This one has some examples, probably the most useful.
http://wpilib.screenstepslive.com/s/...anual-id=13810
Porting guide if you have code from previous cRIO system you want to use.
http://wpilib.screenstepslive.com/s/...e-2014-to-2015