Forth, no it's no too late! If you're dedicated you can become really good at the guitar!
And teaching yourself is the way to go!
Buy some gear and learn how to tune your guitar, and then just use tabs!
There is also some good tutorial video on Youtube and such. So just use those for help!
I thought myself how to play, and now Im really fucking good, if I may say so myself. Although I don't know the theory stuff. I just know how to play, so I don't know any scales and stuff, it just didn't suit me, if it sounds good itsounds good, no matter what scale it is!
So I say, fuck theory, just learn how to play!