[ThomasClark]

There aren't any simple wrapper classes for general-purpose CAN communication in WPILib, mostly because every device is a little different. However, you can technically call the FRCNetworkCommunication functions directly. It would look something like this, but you need to fill in the blanks for device-specific things. I'm also not sure if the message tokenization stuff will interfere with it.

PHP Code:

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.can.CANExceptionFactory;
import edu.wpi.first.wpilibj.can.CANJNI;

import java.nio.ByteBuffer;
import java.nio.IntBuffer;
import java.util.Arrays;

public class Robot extends IterativeRobot {
    /* Check the datasheets for your device for the arbitration IDs of the
        messages you want to send.  By convention, this is a bitstring
        containing the model number, manufacturer number, and api number. */
    private static final int MESSAGE1_ARB_ID = 0x1;
    private static final int MESSAGE2_ARB_ID = 0x2;

    /*  Device ID, from 0 to 63. */
    private static final int DEVICE_NUMBER = 1;

    private IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
    private IntBuffer messageId = ByteBuffer.allocateDirect(4).asIntBuffer();
    private ByteBuffer data = ByteBuffer.allocateDirect(8);
    private ByteBuffer timestamp = ByteBuffer.allocate(4);

    /**
     * Send a message once when the robot program starts
     */
    public void robotInit() {
        /* Again, see the datasheet for the device you're using.  It should
            specify what data to put here. */
        data.clear();
        data.putFloat(3.14f);
        data.putInt(3);
        data.putChar('a');

        /* Alternatively, instead of CAN_SEND_PERIOD_NO_REPEAT, you can specify
            a period in milliseconds to automatically send the message over
            and over again. */
        status.clear();
        CANJNI.FRCNetworkCommunicationCANSessionMuxSendMessage(
                MESSAGE1_ARB_ID | DEVICE_NUMBER,
                data,
                CANJNI.CAN_SEND_PERIOD_NO_REPEAT,
                status
        );
        CANExceptionFactory.checkStatus(status.get(0), MESSAGE1_ARB_ID);
    }

    /**
     * Check for an incoming message periodically, and print it out if one
     * arrives.
     */
    @Override
    public void teleopPeriodic() {
        /* To receive a message, put the message ID you're looking for in this
            buffer.  CANJNI...ReceiveMessage  will not block waiting for it,
            but just return null if it hasn't been received yet. */
        messageId.clear();
        messageId.put(0, MESSAGE2_ARB_ID | DEVICE_NUMBER);

        status.clear();
        ByteBuffer data = CANJNI.FRCNetworkCommunicationCANSessionMuxReceiveMessage(
                messageId,
                CANJNI.CAN_MSGID_FULL_M,
                timestamp,
                status
        );

        if (data != null) {
            CANExceptionFactory.checkStatus(status.get(0), MESSAGE1_ARB_ID);
            System.out.println("Received a message: " + Arrays.toString(data.array()));
        }
    }
}