É simples! No sdk tem um exemplo de chat. Faz uma adaptação dele para a sua necessidade, e no arduino vc lê o serial.
Eu fiz isso aqui... só que ainda não tive tempo de melhorar o acelerometro
2013/10/3 marcelo yonamine <yonamine60@gmail.com>
http://labdegaragem.com/forum/topics/tutorial-criando-aplica-o-para-android-para-controlar-o-arduinoPrecisa do módulo bluetooth
2013/10/3 kleverson.holanda@gmail.com <kleverson.holanda@gmail.com>
Pessoal, alguém já fez ou sabe se e possível fazer a comunidação android -> arduino via bluetooth ???--
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Att,Kleverson Holnda CostaProgramador de Interface
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