Few modifications:

-Relay collector pin now is located on PORTD 2, just to free pin 12 which is next to timers pins, so it would be better to free these for future sensors;
-Were define some initial conditions when taks1 stops and starts back, to avoid a previous bug where the robot was keeping moving after task1 stop command been sent;
-Servo motor now has two moving states (halfHome and the previous stabilished atHome) to easy the detection of no-spaced balls;
-Android application was modified to send $STOP command together with $T1STOP;
-Some tweaks on hsv parameters, and another variables at all;