webiopi! simple and works great! (You have to change the BCM address before compiling it for the PI2).
To drive the motors I use L298 driver.
I do have a USB battery pack with 12V output + 5V usb output.
I also add a usb speaker for sound. The microphone could be the one from the webcam
I build this in 2013 and it still works fine.
mjpegstreamer gives me live camera.
I tried to implement the audio in, but it is still pending.
https://dl.dropboxusercontent.com/u/488 ... _pc104.wmv