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1 Assuming you have installed a linux in cubieboard. if not you can refer http://docs.cubieboard.org/tutorials/cb2/installation/cb2_lubuntu_nand_install
2 Use usb to connect cubieboard and usb
3 Installing the software Arduino ide for writing programm in cubieboard.
$sudo apt-get update $sudo apt-get arduino
4 Click the programmin and you can find the software arduino IDE
5 And you can use this software to write programming