d2marc

hey Guys,
I'm fairly new to Android programming so please bear with me. So heres my project, I basically want to somehow obtain accelerometer and rotation data from an android phone that is attached to a mobile robot. I want this to be automated so that somehow the phone is sending readings to a scientific program such as MATLAB in real time or in intervals. Would it be difficult to write a program that does this? What kind of connection would be easiest, maybe bluetooth or through the internet? What would be the easiest way to do this. I've been looking around for sensor programs but I cannot find any that do this. I have a basic program that outputs data to the screen but I don't know where to go from there. Any advice would be greatly appreciated guys.

Thanks,