How do I add a button to the backend of the CMS that fires an action? I can display the button where I want using:
public function getCMSFields()
{
    $fields = parent::getCMSFields();
    $fields->addFieldsToTab("Root.ButtonTest", array(
            FormAction::create('doAction', 'Action button')
        )
    );
    return $fields;
}
public function doAction() 
{
   //Do something
}
However the button added does nothing when clicked.
I've seen one example of how to put a button on the main action bar (next to save/publish) but that's not what I'm trying to do.
Looking at the only page of documentation I can find, do I need to do something within:
public function getCMSActions()
{
    $actions = parent::getCMSActions();
    //Something here?
}
It isn't very clear how to create the action that the button calls.
You'll have to extend/decorate LeftAndMain with your own extension and the action you want to call. Here's an example:
<?php
class MyExtension extends LeftAndMainExtension
{
    private static $allowed_actions = array(
        'doAction'  
    );
    public function doAction($data, $form){
        $className = $this->owner->stat('tree_class');
        $SQL_id = Convert::raw2sql($data['ID']);
        $record = DataObject::get_by_id($className, $SQL_id);
        if(!$record || !$record->ID){
            throw new SS_HTTPResponse_Exception(
                "Bad record ID #" . (int)$data['ID'], 404);
        }
        // at this point you have a $record, 
        // which is your page you can work with!
        // this generates a message that will show up in the CMS
        $this->owner->response->addHeader(
            'X-Status',
            rawurlencode('Success message!') 
        );
        return $this->owner->getResponseNegotiator()
               ->respond($this->owner->request);
    }
}
Once you have written an extension like this, you'll have to apply it to LeftAndMain by adding the following to your mysite/_config/config.yml:
LeftAndMain:
  extensions:
    - MyExtension
That's it. Your doAction button should now actually do something!
Not sure if this is helpful, but here's how you can add action-buttons to a ModelAdmin.
(does reload the page)
...in the admin class:
public function getEditForm($id = null, $fields = null)
{
    $form = parent::getEditForm($id, $fields);
    $form
        ->Fields()
        ->fieldByName($this->sanitiseClassName($this->modelClass))
        ->getConfig()
        ->getComponentByType('GridFieldDetailForm')
        ->setItemRequestClass('MyGridFieldDetailForm_ItemRequest');
    return $form;
}
MyGridFieldDetailForm_ItemRequest.php
class MyGridFieldDetailForm_ItemRequest extends GridFieldDetailForm_ItemRequest
{
    function ItemEditForm()
    {
        $form = parent::ItemEditForm();
        $formActions = $form->Actions();
        $button = FormAction::create('myAction');
        $button->setTitle('button label');
        $button->addExtraClass('ss-ui-action-constructive');
        $formActions->push($button);
        $form->setActions($formActions);
        return $form;
    }
    public function myAction(){ //do things } 
}
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