mbot2 robot with the smart camera and the robotic arm: Grab the red ball!

I received the smart camera a couple of days ago. After making some tests with the camera, I made the robot to find and grab a red ball. The program is made so, that the robot will not end searching until the red ball is found. The robot in this video is using no other sensors than the camera.
The program (6 pages) is at the end of the video.