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Android - Arduino

I have made a robot with Arduino which is controlled by Android through USB. I have developed an app with buttons for right , left etc to move the robot.
Now i want to do something more
1. The android should stream live video to the PC through Wifi and from the PC seeing the video the robot can be controlled.
I have used bambuser for live video streaming. But when that app runs i cannot run my app . Also how to send commmands from the PC to my app ?
 
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