Since you already know the commands you need to use (based on your question), the vast majority of the information you need is already here.
To clarify, a script is nothing more than a text file of commands that has its permissions set to executable.
To avoid having to run your script of commands every time, all you need to do is
run the script at startup.
Once you've chosen your scripting language there are numerous resources that explain the syntax. If you get stuck on the programming aspect you can always ask find answers to specific questions by utilizing for example our sister site https://stackoverflow.com/
Personally I often use bash for simple scripts such as you seem to require, Here's a command reference However in your case you might not need that much. A simple script might be described as:
where command 1 is xsetwacom set "HID 256c:006d Pad pad" button 1 key Ctrl z
I don't have your hardware and as such am unable to test it's capabilities, you however can do this with a bit of research and effort. xinput could be a useful tool for this.