wireless communication with audio of a Bluetooth head set


I am making a robot for my school project.
I have to control 2 motors (forward and reverse), and a servo.
I was thinking, is it possible to use a laptop to send audio signal to the Bluetooth head set. Then read the signal with Arduino to control the motors and servo?
I can probably vary the frequency of the audio and/or pulse the signal. I don't think varying the amplitude will work well.
So, if it is possible. I need some help with reading the frequency/pulse on the Arduino, and sending that signal on the laptop(with processing maybe?)

Thank you