Bluetooth is widly applied in electronic devices. As a short-range wireless communication technology, it is able to connect different devices, not having to rely on transmission line. However, the research on the bluetooth programming based on the Android system is scant. As a result, the Bluetooth protocol stack of the Android system is briefly introduced, and the Bluetooth development process is analyzed. Then, the bluetooth communication between the android system and the single-chip microcomputer is implemented to control the operation of stepper motor. The practical application shows that the system can send and receive data with bluetooth precisely, with high control accuracy, stability and fast response time.