[drakesword]

Unclean can be caused by multiple issues. When we first dabbled in it we cam across three. Cant recall the numbers but one was that the jag plugin wasn't loaded. One was because one of the students loaded the serial plugin and the 2can plugin. The last error was because there was a short on the can bus (particularly the serial plug terminating resistor)

So to summerize ...

Check your can network
Check to make sure you have added the plugin to the cRio
Check that it is loading
Make sure you don't have both plugins loaded