VEX Kit Controller usage

hello

I have this robotics kit but the microcontroller is rubbish and doesn't support almost anything but its control is wonderful and I would like to use it in projects using arduino, it works using the USB in the image I wanted to know if there's a way for me to "read " what does this USB receive and send so that I can create a lib for this control in the future and use it in my projects.

The problem is that I don't know and I can't find how I can read this data that is being sent/received. Has anyone tried something similar or has anyone or where can I start this project?

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