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The open source Robots everywhere software is available for download on the android market and more information can be found on http://www.robots-everywhere.com. I still need to get the tilt servo working, there is map and gps support too that I need to set-up. I have a little circuit that converts the the audio out data from the app to standard serial for the controller, it allows for a bluetooth connection too, I had some trouble getting the two talking with that setup ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/android-arduino-rover