CAN mode question

[RaiderRobotics]

We've never used CAN mode before - since we were rookies.

Do the Jaguar (and Talon) CAN modes have encoders built in? Lots of people say that we should use CAN, but we'd like to have cleared explanations and also some sample code (we'll be searching Github for this).

Can we tell a Jaguar to make the motor make exactly 6.22 rotations - to move an arm to a certain position? Will it automatically continue to hold the position against gravity (think Aerial Assist with an arm holding up a ball)?

What can CAN mode do that PWM cannot (aside from monitoring power consumption)?

So ... no encoders are needed with CAN mode -- correct? The motor will tell us how much it has turned and in which direction?

Thanks!