The motor controllers it can currently handle use PWM, both simple a PWM signal which controls the duty cycle of the motor (via an H-Bridge), or a servo like PWM signal where the pulse width controls both the speed and direction of the motor.
I am not familiar with CAN bus controllers other than the TALON SRXs used by FRC.
Documentation for the Java classes can be found on the website:
http://programming.sdarobotics.org/R...annotated.html