[otherguy]

My recommendation, if your team is tight on resources or time, don't learn how to use CAN in season. That being said, we did exactly what I'm recommending you not do...

Jags have a bad reputation with FRC teams. For the most part failures I've seen have been do to wiring or hardware problems and not necessarily with the Jags themselves or with CAN. So for this reason I feel obligated to report that we used only Jags last year, all of which were controlled over CAN (using LabVIEW).
In the off season we did the same using Java.

There is risk associated with trying something new, do your research and things should work out well. That said, there are a lot of places to mess things up in wiring and software. So test along the way and always have a fallback plan.