I’m planning on buying a vex kit and an idea came to mind as to hook up a coprocessor to the VEX system. My question is if this is even possible with the VEX system and if anyone’s done it before. Also, if I could get a hold of a CMU cam 2 system, I should be able to wire that into the system aswell, right?
This may help you out. 
Yeah, I saw that thread, where I got the idea. 
What I’m looking for though is the specific answer if I can attach one TO the VEX system, and how. Does it have the serial/RS-232 ports like the FRC RC?
you’ve got two uarts available, the programming port and the rx and tx pins next to a/d port 16. on the programming port the leftmost pin is tx, next to it is rx and next to that is ground. of course all of these are ttl level signals.
i have run the CUM cam from a vex with no problem. i had a modified pwm going from the ttl port of the cam to the Tx/Rx ports and a Y pwm cable to power the camera i was able to run 90% of ny teams code on a vex with almost no modification.