[MikeE]

Our team has looked at the Java CANJaguar release, and at the moment only voltage setting is supported - none of the closed-loop methods are implemented yet.
I'm not sure if the primary developers are planning to release another update before the end of build, but we plan to try to implement some of the functionality we need ourselves. If we have success we will make our efforts available to the community.
In the meantime, the bdc-comm utility does allow some experimentation with closed loop control, but obviously not under actual robot conditions.