[euhlmann]

WPILib resources:
Screensteps
API Reference (Java)
API Reference (C++)

Using the command based architecture, you need to first create a subsystem that the motor belongs to

public class MyMotorSubsystem extends Subsystem {
  CANSomething myMotor;
  public MyMotorSubsystem {
    myMotor = new CANSomething(RobotMap.CAN_ID_MY_MOTOR);
  }
  public void setMotor(double value) {
    myMotor.set(value);
  }
}

Then you need a command to run the motor.

public class CommandBase extends Command {
  public static MyMotorSubsystem myMotorSubsystem;
  public static void init() {
    myMotorSubsystem = new MyMotorSubsystem();
  }
}

public class RunMotorCommand extends CommandBase {
  JoystickButton runMotorButton;
  public RunMotorCommand(JoystickButton runMotorButton) {
    this.runMotorButton = runMotorButton;
    runMotorButton.whenPressed(this);
  }
  void initialize() {
    requires(myMotorSubsystem);
  }
  void run() {
    myMotorSubsystem->setMotor(1.0);
  }
  void isFinished() {
    return runMotorButton.get();
  }
  void end() {
    myMotorSubsystem->setMotor(0.0);
  }
  void interrupted() {
    myMotorSubsystem->setMotor(0.0);
  }
}

Then you need to create an instance of the command

// somewhere in OI.java
new RunMotorCommand(new JoystickButton(myJoystick, something));