Yes. The mysql drivers and the PDO drivers maintain completely separate connections.
However, I would strongly advise that when you do have the time, you go through Bob's tutorial again until you see how it works.
His retrieval function uses getCollection(), which allows you to iterate through the rows. You could use any of the other "get" functions xPDO (or PDO) provides
http://rtfm.modx.com/display/xPDO20/Retrieving+Objects
The main thing this tutorial does is provide a simply way of converting your (existing) table to an xPDO schema so that you only need minimal arguments to the various data manipulation functions. With the schema, xPDO knows where everything is and what its data types and relations to other tables are, leaving you nothing more to do than the basic operations of Create (insert), Read (select), Update (update), Delete (delete) - the basic CRUD operations.