I agree with nick. First check your DIO channels for your speed controllers, though this shouldn't throw an exception. Also verify that you are indeed using CAN Jaguar. We have not used CAN in the past and therefore have not seen this specific issue, but the stacktrace would indicate that it is expecting CAN.
Also, as a matter of what we consider to be best practice, we explicitly declare and configure our speed controllers. This way we know without a doubt what we are handing to the RobotDrive.
Code:
SpeedController leftFront = new Jaguar(1, 1);
...
SpeedController rightRear = new Jaguar(1, 4);
RobotDrive robotDrive = new RobotDrive(leftFront, ..., rightRear);
Don't worry too much about being "verbose/explicit" the compiler will optimize as necessary. Remember, programming languages are for people.
