Hi,
Have a look at "blind/control-program.c". It is an example program where we pretend to be reading FITS files, running image2xy on them, and solving them. It may have a few other things you don't need, but it'll be a decent starting point for what you want to do. You can replace the FITS file reading by an image capture from the camera. There is nothing special about FITS files, they're just an astro-standard image format.
The solver itself only deals with x,y coordinates (xylists), so the image2xy part converts an image to an xylist by detecting stars in the image.
cheers,
--dustin