All 3 of my children go to the YMCA summer camp, the entire summer. No, they are not really trained to deal with "special needs" kids. They way the YMCA camp works here is, if you get written up 3 times you're out.
I do not know if they make special exceptions to that rule, or if that rule is consistent with every camp. I do know, the counselors where my children go are not trained specifically in anything other than CPR and swimming. So, for example, if your child has seizures, I don't know that the counselors would have a clue.
I would probably suggest if your child cannot maintain on a daily basis (i.e. raging, tantruming, etc) that you find someone to go along with to camp. Like a TSS or an aide or something of that nature.
I do know there were a couple of "I don't wanna do that" kids in with my children that do not go anymore. I don't know if they were kicked out or the parent's took them out or what, but they're not there now.
Truthfully, it's easy for 2 of my 3. For Dylan, it's hard, because inside he's an "I don't wanna do that" kid, too, but he is able to maintain on his own, at least for now. He has already been written up once (shutting down) ~
Although personally, I think the whole experience is good for all my kids. I don't want them sitting in front of the TV through the summer.