I have found this question about scanning for Bluetooth device, which pretty much mirrors the Android docs, but I find that is good when the phone (or tablet) has not previously been paired with another (in my case a Point of Sale terminal).
However, after pairing has occurred, and relevant data about the POS stored (name and address), how would I go about establishing a connection directly to the POS (or another device where the name and address is known) without going through the discovering process again? I find the Android docs a bit lacking in this aspect.