What can I do regarding unpaid commissions?

Question Details: Briefly, I have been selling high priced products for another 2 person owned company for the past 10 years. Then, 5 years ago, they essentially stopped paying me commissions. Since I developed a friendship with the owner and foolishly trusted him, I continued selling his products. Originally he had financial issues but for the past 2 years, he has refused to address the non-payment of the commissions. I have various documents that show he wanted me to sell his products with the intention of paying me a commission. I really don't have a legal, written contract with him so do I have an legal recourse to securing the commissions owed roughly 50k?

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