My friend is a company truck driver, company doesn't want to pay him.?

In my opinion, your friend is not going to receive his proper pay. Unless he has documented everything, he will be wasting his time suing his boss. If every trip is documented, he may be able to file in small claims court. I believe in Florida, only claims under $5,000 may be filed . File a claim now for $4,999, and hope for the best.