Using Talon Sr

[Alicia V]

So as an off-season project, I am wiring up a chassis for prototyping. We have a ton of Talon Srs (the older ones) to use instead of the Talon SRX. The plan is to put encoders on the drive train and have pneumatic shifting.
I am wondering how to wire up using the newer electronics system and CAN bus without motor controllers that run through CAN.
How should I go about doing this and how can do I wire CAN?
Any other advice would be helpful

Thanks all!