All the controller has now been tested. The verdict is that it is behaving correctly but it is very slow to operate. In order to fix the object following algorithm, I created a graph on excel to have a better idea of how the robot was behaving based on the position of the ball on the screen
I read and commented on the draft report and made a number of structural suggestions. Including the need for an Introductory chapter and also a conclusion chapter. We have the meat of the dissertation but not the book ends!