Where do I begin to get the robot to move using the camera?

[jdejoannis]

That won't work because the next time around the fork lift is going to be reconnected to the joystick.

This does not do what you think it does:
pwm03 != p1_y;

Lets say p1_y is equal to 200 at the moment, so we have
pwm03 != 200;

Which means pwm03 is going to be set to 0 (for the moment). You will need an if or switch statement for your joystick.

Also you might want to put a \r\n in your print statements. Keep up the good work!!

Jason