You can use the CAN bus to drive the Jaguars. The Kit of Parts comes with an unassembled DB-9 to RJ-12 adapter and a 6 foot, 6-conductor phone line. These two things plus two 100 ohm resisters and the end of phone cord are all you need to connect to a Jaguar and use CAN to send commands to them.
Well, there is a bit more, like re-imaging a cRIO to use a Black Jaguar as a CAN bridge, and changing your code to use CAN instances, but you will have a lot more latitude in what you ask the Jaguars to do for you.
More info can be found at
http://www.ti.com/jaguar, and at the CAN sub-forum here at Chief Delphi.
The digital breakout board provides headers for PWM cables. There may be a way to harness the requires pins from the 37-conductor cable, but it won't be easy. The CAN route is relatively solder free, inexpensive, and opens up the possibility of closed loop control on the Jaguars.