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Apps Read from bluetooth

Hello guys..
I have made a robo car controlled by my android phone using bluetooth...
I know how to send commands to the robo car..
But dont know how to receive any msg or a single char from my robo
What changes i have to make ?
please help.....

My layout is having one "read" button and a edittext
I want that single character in the textfield on clicking read button.....
 
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