[foobert]

you'll probably want to take a look at the 18f8520 data sheet for information regarding control of the vex serial ports. then you'll probably want to consider doing interrupt driven i/o, because the vex has, for lack of a better term, blackout periods when it's generating pwm for the motor ports and listening at the spi port for data from the radio from the master controller. this blackout is about 4ms out of every 18.5. seems like you could drop a byte here or there at higher baud rates.

you would need to keep your interrupt service routines tight so as not to cause glitches in the motor control or lose data from the radio.

anyway, a guy name of kevin watson has done most of the work for you. he has libraries for the first controller that ought to work without modification on the vex controller. i'm sure someone out there can tell you where to find them.

best o' luck...