I assume you will be using either a 3-wire VEX motor or a 3-to-2 wire motor controller so that you can use the cRIO PWM outputs? If so, your code can simply call it a Victor and should work without issues (the PWM timing of 1ms reverse, 1.5ms neutral, and 2ms forward is exactly the same between Victors and 3-wire VEX motors/controllers). You would also want to make sure the 6V servo jumper is installed on the motors' PWM pin so that you can source enough current to your motor (up to ~3A is available - total - to PWM outputs connected to the 6V line, so multiple VEX motors at stall run the risk of blowing a fuse).
You can also get a 2-wire motor working, but would have to write custom code to control it from the solenoid breakout or 5V digital IO pin.
Keep in mind that VEX motors are spec'd at 7.2V nominally, but the cRIO can only provide 6V via PWM. If you use a 3-wire motor/controller, expect to see a slightly slower and less powerful motion as a result.
(
Here is the digital sidecar document for reference).