My old pal Philip Lindsay has been working on a software toolkit called "Handbag" for easy development of Android/Arduino apps. He did a talk about it at OSCON in the US a little while ago, and this interview has now been posted showing the basics of what it does:
He doesn't show them in that video, but Philip also has a couple of our USBDroids that he's been experimenting with, and Philip and I will be doing consecutive talks about ADK development at linux.conf.au 2011 in Ballarat in January:
http://www.linux.conf.au/
Philip on Twitter: https://twitter.com/#!/rancidbacon
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Jon