I have the newest Yosemite 10.1 Operating System on my mac, but when I download the driver for the Canon printer, it proves to be incompatible. Is it possible to use driver 10.9 for a 10.10 operating system?
Known Mac OS X compatible drivers from 10.0 through 10.9
I agree with Jan. Most 10.9 printer drivers should work with 10.10.
In most cases 10.9 drivers should work just fine under 10.10. Since you appear to have tested that already you might have to wait for Canon to release drivers for the new OS X version.
What you can try in the meantime is resetting the printing system, then re-installing the drivers and adding the printers, scanners etc. again. Especially if you performed an upgrade installation this could solve printer issues:
open up System Preferences > Printers & Scanners
right-click in the Printers list and select "Reset printing system"