Have your looked at the sample code provided on the Mindsensors website? If you would like more sample code, I have edited the same driver a little bit to be a little more user friendly, are you interested in me posting it? Let me know if you have any specific questions B-).
Mindsensors RobotC code for NXTcam:
http://www.mindsensors.com/index.php?mo ... ment_id=50