Thanks for the information on CAN. I had no idea what CAN was and looked all through the documentation without really getting a handle on the very basics.
I might suggest that you start your paper with a sentence or two on what CAN is and what it stands for. Maybe a link here:
http://en.wikipedia.org/wiki/Controller_area_network
I think my team is going to stick with PWM this season. I've already started wiring that way and I have some familiarity with it. Maybe after the season we can reconfigure for CAN to get some experience with the added functionality.
Your work will certainly help with that. Thanks!