Well, I got my robot working. Right now its running off two Uno's however, I think that I can streamline my code and get it to work on one board. I also think that an upgrade to a mega or digilent chipkit 32 will let more processing and a faster processor speed(80mhz) on the digilent. But it works as it is supposed to and thanks to all who helped with the serial communication issue. One last question about the hardware serial port though. When the AVRCam keeps sending data to the arduino while I am processing other data and sending the motor controls, what triggers the interrupt on the serial port? Is it the receipt of data, filling up the buffer, or something else?
Thanks guys.