Is there a specific library to work with android and Arduino?

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I’m with some automation projects, and I wanted to develop my own app, which controls an Arduino.
With little research, I realized that there are several tools that create this communication and still return you an app ready, however, I would like to develop my own app. I want to know if there is any own API to work with this communication, or if I just send commands over bluetooth or wifi and decipher these commands in the Internet itself.

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You can communicate with an android application through a Bluetooth module such as the HC-06 connected to the Internet. Such an application could be created, for example, with the Phonegap and a bookstore like Bluetoothserial.

For more details, please check the answer I have already given to another similar question:

Communication HC-06 with android

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