The connection to the phone is similar with the connection to the PC. If you look at the Cellbots site, you will see that they have the phones working with all sorts of hardware: Lego NXT, iRobot Create, Arduino. So you can modify the code for any of the last two and put it in the Axon and it will work. Use the Designers to generate your hardware code, then add a simple loop that reads your serial comm (use a Bluetooth device or a serial adapter like the one from Sparkfun) for commands and sends them to the motors and servos. Also, you can add sensors and either use them internally for object avoiding, etc. or send the readings back over the serial to the phone and deal with them in your App.
