[CarlosGJ]

Strictly speaking, Jags can't communicate with actual Ethernet. Andymark's 2CAN is a device which acts as a bridge between Ethernet (from the wireless bridge) and CAN to the Jags. If you have at least one Black Jag, it is possible to use it as a serial-to-CAN bridge, albeit at a slower speed than straight CAN. That said, the advantages of CAN are easier wiring (daisy chaining), potential for feedback, and more control options (for example, speed or position control with built in PID loop, which is specifically permitted by <R52>). The disadvantages are expense (if using the 2CAN, about $200), more complex, and potentially less reliable (several teams had CAN-related software problems last year, although I have heard those have been fixed by now).

DISCLAIMER: My team has never actually used CAN on a robot, but I have experimented with it personally. (It feels great to get Black Jags in the mail.)