Depends on how intent you are on learning zwave commands, you can troll through other drivers that use these or take the time to read the zwave spec docs where the actual commands and what they do and how they are implemented is defined. The latter is the most successful way of doing it, but also the most difficult in terms of learning curve.
Do a quick search of colorControlv1 and you’ll find a driver that has color control already, you might be able to cut/paste/beg for help getting it working.