I've successfully used Kevin's Serial, Camera, and ADC code on the Vex platform.
Since the processors used in the pre-2006 FRC RC is the same as the Vex controller, following Kevin's instructions to run his code on the old or EDU controllers will work for Vex. The only difference is that you need to use the Vex library, which is in the vex "starter code" available
here.
EDIT: The instructions I refer to are in the readmes for each of Kevin's projects.