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It depends on what OS the phones/PDA's are runing.
I've only ever written software for Symbian OS (Sony-Ericsson P800, P900, etc). There's some good tutorials out there. I used AppForge MobileVB to write apps in VB cos I don't know a lot of Java/C++, only problem there is you have to install a 'booster' app on the phone too, and it's expensive.
Have a look at the .NET Compact Framework. It's made for mobile devices like phones and PDAs.
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