The phone connects to the HC-05 module, but I can not send a data frame to set kp kd kps and kis kp.
The HC-05 module connects and receives data from the telephone.
These sound contradictory, so what data is actually received?
BT1.begin(57600);
is too fast for software serial, probably fatal, and may explain the junk. Slow it down to 9600.
I don't know anything about eeprom. but there are examples in the IDE that should eb all you need.