Are there any good explanations of the use of CAN/Jaguar and how to implement it out there?
There are many sources I can think of that you should examine. A few I can think of off the top of my head are:
The Black Jaguar (MDL-BDC24) data sheet available from Luminary Micro. This contains information as to how to wire the CAN bus and tells a little about what is available. Other documents on their site might also help you.
To actually implement it take a look at the sample code (for Java, C++ and Labview) on FirstForge (firstforge.wpi.edu). Just examining the sample code should be able to allow you to gain enough knowledge to experiment with it and figure more out.
Hope that helps,