In reply to buffalo606:
Not sure about scooters but there's plenty of camping. There's a big campsite at the Monnastery at Lluc, which admittedly isn't very close to the main deep water soloing venues but is close to a lot of good sport crags in the mountains. When I stayed there in 2008 it was free but I think its 5 euros a night now.
There is also Hipocampo, which is very close to Cala Barques in a place called Calas de Mallorca
http://www.clubhipocampo.com/
The website says its great for climbers and deep water soloing.
To say there are no campsites on the island is absolute nonsense.