PiP and CA

Hi All,
I am on carers allowance and have applied for PIP as I have complex physical and mental health issues that are established and longstanding.
My telephone assessment is in a few weeks so its all going ahead.
Is it ok to claim for pip for myself when on carers allowance? I care full time for my autistic teen who has mobility and mental health issues all complex on pip, and i have full support of my GP and therapist and evidence from other medical practitioners.
I'm suffer with anxiety and panic disorder and so was anxious about this being close to home so to speak.

Hi Gary,
I have osteoarthritis, and chronic long standing back problems, hans tendonitis, social phobias and social anxiety, panic disorder and ptsd, all of these affect my daily living, from not going to any new places on my own, to having difficulty with freshly prepared food, I have cbt weekly, ongoing physio support for my back and osteoarthritis.
I care for my teen full time with their mobility and mental health issues, and just wanted to clarify that as individuals inbthe same household that it wouldn't prove a worry or some such thing.
The CAB encouraged me to make the claim last year for myself but I held off as I didn't want to.
Am I worrying over nothing?