Andy
You have two options;
You can consider an appeal to the Upper Tier Tribunal. This cannot be done becuase you disagree with the Decision, only because you can show that there was an Error of Law in the making of the Decision. The first stage to this is to request a Statement of Reasons from the Judge.
What is an Error of Law? Tribunals – Requesting a Statement of Reasons The process can take the best part of a year and the most likely result is a new First Tier hearing.
AND/OR
If no award was made then you can make a new claim for PIP, there is no waiting period.
In either case you will need to consider how you address your previous failure to score or you risk the current situation being repeated.
Gordon