(1) After installing Arduino driver at PC, users can communicate with Arduino controller through USB. (2) There is a Bluetooth module on the controller board. Android/iOS can connect to Dobot controller through Bluetooth (Notice: android need input a password: 1234 while iOS app does not require this), and send out instructions to the controller. (3) Bluetooth module ports can be served as a serial port for communicating with other microcontrollers. External microcontroller only needs to send control commends to Dobot controller according to communication protocol.