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Re: 2CAN API
If you are trying to send/recieve CAN frames from the cRIO you can just use the functions prototyped in the JaguarCANDriver.h (see CANJaguar c++ examples). this uses the FRC_2CANPlugin.out (see 2CAN User Manual).
If you are trying to send/receive frames outside of the cRIO you can socket to the 2can and do it yourself. We don't have documentation yet for the protocol but you can figure it out by looking at the code for the 2CAN plugin. Basically each CAN frame is wrapped in a udp datagram.
To get the plugin source check out the CANJaguar repository from FIRSTForge (SVN). There is a sudirectory under "plugins" that has the FRC_2CANPlugin c++.
If you have any trouble PM me and i can get you what you need.
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