PIP appeal, please help

Hi, I was hoping that someone could give me some advice re my PIP appeal. Basically I have Bi Polar Disorder, Anxiety Disorder, and Crohns Disease. My parents received DLA for me, highest for both, I was diagnosed with ADHD as a child and it's fair to say I was a bit of a nightmare. Anyway when I turned 18 I started receiving the payments myself. Fast forward and I got the letter to say I had to claim PIP. I was In a bit of a mess at the time so I kept cancelling the appointments so they disallowed my claim and the DLA stopped. I ended up recovering rather well and got off ESA and back to work for a year or so. I lost my job and stopped my medication and didn't really know how to cope so I attempted suicide multiple times and got sectioned. I got told to claim UC and PIP again and was awarded LCWRA on UC and PIP standard care. My problem is they have disallowed me on mobility because they say because I can go to the shop with social workers, I can travel unaided. I just can't get my head around it. My CPN said It was obviously a mistake so I asked for mandatory reconsideration. They said the same thing again, scored 11 points on daily living but 0 on mobility. I'm pretty sure they reversed the decision on pip mobility for mental health so I feel like I should be entitled to it. I want to get a car so I can get my friends to take me places as I really struggle with public transport, and i need to be able to get to a toilet quickly - I had my driving license revoked on medical conditions but I heard someone else can drive the car for you. I'm so frustrated and the whole.process is making me such a mess. The court is now asking for medical evidence but I am refusing to see my CPN at the moment because I keep hearing things and going a bit nuts, but he said he had already sent them lots of evidence for the original claim. The stress has set me back to depression.