I've been playing with B4A and it's quite polished and usable.

Having said that, poking around the web, I discovered this: http://www.laughton.com/basic/ It's considerably simpler, free, and has a growing community of users. By simpler, I mean more like traditional procedural basic programming, where B4A is more like object oriented Visual Basic.

RFO Basic programs are written on the actual Android device - which can be cumbersome, I admit, however you can also use a text editor on your PC then move your app over to the SD card. It does have nice tools for graphics and for BlueTooth and other hardware devices/interfaces.

Anyway, I thought I'd mention it and see if there is anyone else using it...