Optimizing Speed Controllers

[4DFudge]

So, my team is trying to use the inputs on the speed controllers (and possibly the sidecars) more effectively, to improve our overall robot. One of mentors brought up using CAN bus however I'm not exactly sure how I would go about setting this up(if this is actually more efficient than the connection of every jag being connected to a different input on the digital sidecar). So I was just wondering if other teams had used other inputs that improved their robot's preformance.

Also I have read the datasheet for the digital sidecar and it seems as though the connections are pretty clear cut but I just wanted to make sure there aren't more creative uses.

Thanks