[JDNovak]

There are a total of 20 PWMs available. 10 available on board and up to 10 through the expansion port. The 8 limit is probably Analog Inputs. There are 4 on board and 4 through the expansion port.

CAN is a communications protocol that all cars use to communicate betweem control systems. It is also widely used in industrial controls.
The only CAN device currently supported on the CRio is the Jaguar speed controller. The protocol was tacked on to the controller through the serial port or on ethernet through a bridge called the 2CAN.
The RoboRio has hardware CAN support on board and the Pneumatic module and power monitoring subsystems will communicate through it. Jaguars will be supported and hopefully other CAN I/O and speed controllers will emerge.