Re: Connecting USB PC Camera to Bioloid Comprehensive Kit
The HaViMo2 is third-party (created and used a few years ago by a RoboCup competitor) and is sort of being pushed by Robotis for the Premium kit (but not much). It is a bit of a pain to mount on any Robotis frames as the mounting holes do not line up with any frames. There are 6~7 in the lab and I had to make crappy aluminum plate boxes for them to safely mount on the frames (nice, fully-enclosed boxes are yet another reason I should build that cursed pile of parts in my basement into an actual reprap). The 3-pin dynamixel connector interferes with one of the four mounting holes, and a second hole allows the screw head to come uncomfortably close to a trace or component (don't remember which right now, but I used ~1/8" of a plastic spacer to keep it isolated).
If you use the custom instructions and non-compliant packets then you can retrieve at most a 160x120 pixel image, either full resolution at a few frames per second or a heavily interlaced mode at maybe 20 frames per second. The gridding algorithm works well enough and can be accessed via RoboPlus Task programs, but it is a bit easier in embedded-c since you need to read up to 16 bytes of data for each detected blob (one 16-byte read versus multiple 1/2-byte reads).
Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
"You have failed me, Brain!"