Hey guys 
After following some of the tests you recommended, I have determined that it must be the code at fault. I went back and loaded earlier versions of the code, and I no longer had any trouble. Ive got it working as originally intended, (pan and tilt a function of movement) and I believe with some smaller less complicated edits I should be able to work with this and get it to do what I want. I want to try changing the servo pins to an unassigned pair, but it is really difficult to do that - last time I did I just about broke the robot and lost a few washers I still cant find.
Anyway, since its now working mostly how I want it to, I took a film from the robots eye - Its a little jittery partially due to the motion of the robot, partially cutting in and out as the wireless connection struggles (annoying, but im not sure how to fix) so here is the first test: I was sitting about 10 metres away on the next floor up, and manouevered the robot without viewing it physically backwards and forwards through my lounge.
