PCA9685 Servo Driver icon PCA9685 Servo Driver — Drive 16 servos over EZB I2C with a PCA9685 PWM controller, using ARC servo commands and hardware-timed outputs. Try it →

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#9  

I haven't used my Nexus 5 on it a whole lot, but it loaded up an app just fine and seemed to work:)

Like others have said, probably almost all android phones less than 3 years old would do nicely.

By the way, I don't know your price range, but a new Nexus 5 can be had from Google for $350 and it's a damn good phone;)