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Re: CANJaguar
The CANJaguar class represents a jaguar. So yes, you need one for each physical jaguar. To set up the drive train, you create all of the jaguars needed and then call the robotDrive constructor with each of the jaguars.
For programming, the only practical difference between CANJaguar and Jaguar is that CANJaguar has more methods (for things like setting PID constants), so if you find a tutorial on how to set things up with normal Jaguars, you just replace the class names with CANJaguar and you should be set.
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