How to setup Bluetooth on a Raspberry Pi

This was tested on a Raspberry Pi Zero W

Enter in the Bluetooth Mode

pi@raspberrypi:~ $ bluetoothctl

[bluetooth]# agent on

[bluetooth]# default-agent

[bluetooth]# scan on

To Pair

While being in bluetooth mode

[bluetooth]# pair XX:XX:XX:XX:XX:XX

To Exit out of bluetoothctl anytime, just type exit