Is it possible if CAN and pwm can be used on the robot?
Yes you can use both CAN & PWM on the Robot at the same time.
What you cannot do, is have both a CAN connection & a PWM connection wired to a single Jaguar at the same time. Choose one or the other.
You can mix and match. For example, your drive motors can be PWM to Jaguars, and your shooter could be CAN with Jaguars.