I am replacing a roboRio TI controller, from a previously FIRST robotics robot, to a connected Arduino system. The main problem I'm having with this is the CAN communication to the Jaguar motor controllers which are operating in CAN mode. I have bought a seeedstudio CAN-BUS shield(v1.2) http://www.seeedstudio.com/wiki/CAN-BUS_Shield and I' using the provided library. However, I am unsure as to what exactly i need to send using the sendMsgBuf() command. The most I've figured out is that the Jaguars use 29-bit extended format messages and I've found a document detailing the use of each bit in the message, but I am confused as to how to format that for the arduino library.
The closest situation I could find is this http://forum.arduino.cc/index.php?topic=106794.0 And it's not particularly enlightening upon the CAN communication part.
Does anyone have experience with non-FIRST CAN Jaguar applications or with the CAN_BUS shield in question that they could use to enlighten me?