One of the "highlights of my month", is stealing my co-workers copy of Embedded Systems Design. This month has an article on The basics of embedded multitasking on a PIC processor.

I don't know how well this described multitasker would work on the Vex Controller because of the Master and User processors, but I would guess that it could be adapted to some extent..

There are Three Parts, and the Source Code is available from the author, "Gamal Ali Labib". I have already requested the source code...

Links to Articles are:
The basics of embedded multitasking on a PIC, part 1 - Reentrant multitasking
The basics of embedded multitasking on a PIC, part 2 - Cooperative multitasking
The basics of embedded multitasking on a PIC, part 3 - Preemptive task scheduling

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I just located another article on the Embedded web site called The basics of programming embedded processors.

This is presented in 9 Parts, and I have not finished it yet, but the practical application should be of great value with programming the Vex Controller.