CAN and 2 SDC2130's

Hi, I have 2 SDC2130's that I am using on a 4wd 4 motor bot in speed position control mode controlled a via pwm rc controller. Currently both controllers are seperate and I am splitting the rc signals to both. I happened across the blog entry about using CAN bus to connect both together. I would like to connect both so that they work together instead of independently while reducing my control wiring. My question is where do I start? How would this setup be wired. I have looked through your website but have been unable to find any more information on how the process would work or example code to do so but, havent had any real luck. Any help would be appreciated.