Hello, I am the author of Mintoris Basic for Android phones and tablets. I recently added Bluetooth serial communications to the language with the intention of making it very easy to communicate and control robots.
Here is a short example program in Mintoris Basic which connects to a device then transmits data from the phones accelerometer. So as you tilt the phone or tablet in any direction, the amount of tilt is sent to the Bluetooth device.
' Get a string array of all the paired Bluetooth devices