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Re: Arduino runing CAN Bus
If you look in the CANJaguar classes in Java or C++, you'll see some clues on how the cRIO communicates to the Jags.
On the hardware side, the CAN Jag has one RS232 serial port. Arduinos typically have TTL serial ports. You need a level converter( tutorial here) to properly communicate to the Jaguar to start.
Another way to do it is to get a 2CAN and use the ethernet shield for the arduino.
Yet another alternative is SparkFun Electronics' CAN-Bus shield.
Code resource for it: http://code.google.com/p/canduino/
Good luck and communicate back with results. 
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