What is CAN?...

[biojae]

The only thing to look out for when running CAN, is to handle your exceptions VERY well.
If you lose a CAN Jaguar (Smoke, fuse, etc.), and don't handle its loss in the code then the library will throw an exception that will crash the main thread (ie. the one that communicates with the DS)

So, if you happen to lose a jag in auto for example, then you don't have a tele.
Where if the same thing happened on PWM, you would only be crippled for that motor the JAG controlled not the whole bot.

Handle Exceptions!