S4A has fixed pin assignments so the pin arrangement of the PCB had to be changed to suit the S4A software. As you can see in the photo below, the DAGU Bluetooth module fits neatly on top allowing your robots to remain in contact with the S4A software on your PC as they roam about. I've tested the controller using both Windows XP and Windows 7.
The low cost bluetooth module is sold seperately, check this link.
The board is completely compatible with the Arduino IDE. Select the Arduino Uno as your board type.
The bluetooth option gives you wireless debugging and control although code still needs to be uploaded through the USB socket with the bluetooth module temporarily removed.
Scratch for arduino (link :http://s4a.cat/)