I am currently working with Bacillus and I used exactly the first protocol on the attached link, just changing proteinase k for the lysosyme I had left from a bacterial DNA extraction kit (Himedia). Although this method does cause DNA fragmentation, depending on the size of your target, it shouldn't be a problem to amplify.
I performed PCR for the 16S rDNA (~1.5 kb) with the lysate without any further purification. I just had to centrifuge the samples in cases where there were some debris left.
Using a fresh culture, you could try resuspending a few colonies in 150 µl TE buffer (10 mM Tris-HCl, 1 mM EDTA), boiling at 98ºC during 10 min in the thermocycler and using the supernatant as DNA template (5 µl) for amplification. It works well with Bacillus anthracis.