Robert Baratheon, the Steel Brother, Demon of the Trident, King of the Andals, and the Rhoynar, and the First Men, Lord of the Seven Kingdoms, Protector of the realm
We never get to see Robert Baratheon at his best. By the time we meet him he's a drunk, blinded and crippled by Kingship and grief. He looks away from the cruelty committed before him, he rages when he doesn't get his way, and he's obsessed with vengeance against those he views as having slighted him. And while Ned finds much of this behavior to be out of character, it was all beneath the surface even in their youth.
His supposed love for Lyanna was based almost entirely on her beauty, and perhaps an extension of his love for Ned. He already had a bastard in the Vale by the time they were betrothed, and Lyanna knew that he'd likely continue to fuck and whore outside of their bed. But he was possessive of Lyanna still, with Rhaegar only having to declare her Queen of Love and Beauty to begin their rivalry. And it seems, as Lyanna lay dying, she asked Ned to promise to protect her son from Robert's wrath.
As a king, father, and husband, Robert was a failure. Preferring hunting to spending time with his family, whores to his wife, and only bothering to enter the Small Council chamber when news of the Targaryen's arrived. The one time he attempted to parent his children nearly resulted in him killing Joffrey. It's unclear whether Robert stopped trying for fear of doing more harm than good with his children, or because he simply didn't care.
Robert had won, he had the crown, one of the most beautiful wives in the Seven Kingdoms, the love of the people, and the loyalty of every soldier who had the privilege to fight with him. But he was so stuck in a life that he imagined for himself, that he wasn't able to see his success. A boar, and a squire with whine might have ended his life, but he let it happen by refusing to let the past go.
