Mobile Robotics with Scratch: The Whole Truth About the Integration of Scratch, Arduino and Bluetooth

This is a nicely done article by Aldo von Wangenheim

and well worth the read

Learn How To Wirelessly Control an Arduino Using the BeagleBone Black
or
Raspberry Pi

Check out my latest Instructables Article

Please note that some corrections have been made to Step 2. The bluez package is required to be installed into the BBB.

Article has been updated to include Raspberry Pi running the latest Debian Wheezy (2014-06-20) release.

PyMata Version 1.58 Released June 17, 2014

HC-06 Bluetooth Module is Now Supported!!!

PyMata Version 1.58 is available on Github 

Note: 

• To use the HC-06 on a Leonardo, the Arduino Sketch, FirmataPlusLBT, included with version 1.58, must be used.
• For USB/Serial on the Leonardo, use either FirmataPlus or StandardFirmata
• All other boards for both USB/Serial and BlueTooth, use FirmataPlus or StandardFirmata