As far as what sensors the motor controllers can use. I'd suggest you use a Jaguar to investigate the various rotational feedback mechanisms and control options. If it cannot be done on a Jaguar, I suspect that it cannot be done on the newer motor controllers.
All three languages can do Cheezy Vision, Cheezy Drive, Cheezy Score, or whatever. It isn't the language, it is the mentors and students identifying a problem, implementing a solution, documenting it and releasing it.
In my opinion, you have lots of new ambition with the HW. Switching languages at the same time only makes sense if you aren't any good with the tool you have.
The key to being successful will be knowing what your system is doing and when it does it. If your SW timing jitters by 20ms, that is going to throw things off. If your math is wonky, it will throw things off.
So pick the tool that your members can use to author, model, test, and debug the best. Be sure to test the code through full ranges of motion before you ever run it on the robot.
A few other factoids:
All languages are getting a CAN overhaul, it was mentioned by Java member, but applies to all.
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3) Real computer science isn't done in a "graphical language".
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Really? There is an IEEE conference on just that topic, though they prefer visual languages. I guess they aren't working on real CS problems like turning a wheel.
Greg McKaskle