The best two things you can do are:
a: Read and understand the CMUCAM Camera Manual
b: Download Kevin Watson's sample software for the IFI_RC, frc_camera-21.zip, available at http://www.kevin.org/frc/.
This sample code pretty much does everything for you. It has a .txt file in the downloadable zip which explains how it works and how to use it. This is all you need to get going.
Good luck.
