Too busy to read the 193 page opinion? Here's a two sentence sumamry:
The commerce clause doesn't allow Congress to just do whatever the hell wants. However, Congress can tax whatever the hell it wants.
You know, Courts are funny. The lawyers get all worked up about a certain issue and the Court comes out and issues a decision on the basis of what everyone else thought wasn't a great argument. That's happened to me before.
If you don't like people in Congress telling you what to do and taxing you, don't elect those kind of people to Congress. The Court isn't going to save you.