There really isn't such a thing as "CAN Programming" unless you're trying to write a driver for some CAN device you specifically want (by handwriting your own CAN frames).
Using the PCM and PDP is explained in the Labview porting guide.
http://wpilib.screenstepslive.com/s/...e-2014-to-2015
Using Talon SRXs on CAN bus is explained in the Talon SRX Software Reference Manual (google it).
Also it helps to go over the roboRIO Web-based config so you can set device IDs for your CAN devices.
http://wpilib.screenstepslive.com/s/...ribution-panel