Hmm... looks like there isn't anonymous access to the repository.
I posted the source on our website...
http://www.crosstheroadelectronics.com/2CAN.htm
Download Wind River Kernel Module Plugin Source (SVN rev 66) for FRC cRIO (Posted 3/12/2011) and import the project into Wind River. Then you can build the FRC_2CANPlugin.out that normally goes in the cRIO's FTP server.
Take a look at C2CAN::receiveMessage and C2CAN::sendMessage. Specifically how STo2CAN_TxCANPacket and STo2CAN_RxCANPacket are used.
Also I invite you to take a look at the C# example at...
http://www.crosstheroadelectronics.com/Cross_link.html
...for using a 2CAN to control Jaguars with non-FIRST firmware. With this you can drive your robot with just your PC/laptop/driverstation/net-book and connection to your 2CAN (Ethernet or Wi-Fi).