This project contains the source code for the iBraitenberg app. With the help of this app it is possible to control a LEGO NXT via Bluetooth. For establishing a bluetooth connection "btstack - A Portable User-Space Bluetooth Stack" from Matthias Ringwald (http://code.google.com/p/btstack/) was used. Furthermore different Braitenberg vehicles can be simulated. The implemented vehicles are love, hate, fear and curiosity. Also a visualization of the sensor and motor intensity and the possibility to control the robot remotly is implemented.