I should have included this in my other post: what do you wish to accomplish? Do you wish to write or not write an app you would communicate with on the device?
I've used adb
on Android, and that link will give you an idea of what you can do. adb does not require you write any code on the device. Also, this isn't USB but I've put an ssh server on my Android phone which gives me a great deal of freedom to interact with the device.
On Android, you'd have to enable developer mode, which is very easy but might have undesired consequences (you can Google it, it's not enabled by default so I imagine this is true but have never had an issue). Rooting your device might also be either necessary or helping, depending on what exactly you want.