[nickpeq]

I can't seem to find much information on CAN Jaguars. I bet the information has been right in front of me, but it's about time for me to ask for help.
I've only worked with PWM Jaguars so far. I'd like to know what advantages CAN has over PWM. Do I have to use CAN to use Encoders? I see that the javadocs show a getRate() method for the Encoder class. Can I use that just as effectively without switching over to CAN?