RobotContainer.java

Define motor controllers

private TalonSRX talon1 = new TalonSRX(3);
private TalonSRX talon2 = new TalonSRX(11);

Define Xbox Controller

private CommandXboxController controller = new CommandXboxController(0);

Example button trigger

private Trigger exampleTrigger = controller.someButton();

If it is an axis (sticks, etc), pass controller as argument to command constructor

Also define commands and subsystems:

private ExampleSubsystem sub_example = new ExampleSubsystem(/*some arguments*/);
private ExampleCommand cmd_example = new ExampleCommand(sub_example, /*some other arguments*/);

In configureBindings:

someTrigger.whileTrue(someCommand); // run command while trigger is on (button is held down)
anotherTrigger.onTrue(anotherCommand); // run when trigger becomes true (button pressed)
thirdTrigger.onFalse(thirdCommand); // run when trigger becomes false (button released)

Other Things (For use in commands or subsystems)

Set motor speed:

motor.set(TalonSRXControlMode.PercentOutput, 0.5); // set to 50% power
motor.set(TalonSRXControlMode.Velocity, 2); // set to 2 m/s
motor.set(TalonSRXControlMode.Position, 0); // set motor to 0 position
motor.set(TalonSRXControlMode.Current, 0.7); // set to 0.7 amps current
motor.set(TalonSRXControlMode.MotionMagic, 0); // set to position 0, but with *magic*