[Al Skierkiewicz]

Sam,
Please ask on the Q&A before you spend a lot of time developing. CAN buss is a relatively stable easy to use system if you are careful with the wiring. This is something you are going to do even if you stick with the LAN solution. I have one personal rule that you should consider. I never put solid wire on a moving device if I can help it. Solid wire tends to break when you need it the most due to vibration. For the LAN wiring on the robot we tie everything down so there is a minimum of movement and add some service loop so nothing is stressed. I have seen teams lose elim matches due to failed LAN wiring.
I would also ask, if you couldn't add the sensors to the non-moving side of the lift so that you don't have to worry about buss wiring that will fail.