NEED HELP!!! Arduino uno To connect with RN41-1 bluetooth module

Hi, i did this project for my project. i have shared the link below.
[/img]Aircraft auto taxi parking system @ RP - YouTube

Now i have to upgrade this and attach a bluetooth module to it to sent the route plan through a android app. I have att the bluetooth but when i try sent the old codes(not using android app) the arduino does not follow according to the codes, it just follows the black line. Is there anything i must add to the codes for it to read from the bluetooth module??

I have connected pins :
RX(from bluetooth) - pin4
TX(from bluetooth) - pin3
vcc(from bluetooth) - 5.5V
gnd- gnd

I am using a arduino uno board.I have also attached the codes below. PLEASE HELP ME. ITS VERY URGENT. I NEED SUBMIT IN 10 DAYS!!!!

//online resources and library :
#include <QTRSensors.h>
#include <ZumoReflectanceSensorArray.h>
#include <ZumoMotors.h>
#define LED_PIN 13


// Change record
// Change second left turn (m= 2) to go forward before left turn.

ZumoMotors motors;
ZumoReflectanceSensorArray reflectanceSensors;
// Define an array for holding sensor values.
#define NUM_SENSORS 6
unsigned int sensorValues[NUM_SENSORS];
int proportional= 0;
int integral=0;
int last_proportional=0;
int derivative=0;
float K1, K2, K3;
float error_value;
int m = 0;
int s;
int wait = 2500; // Standard junction wait time




void setup()
{
  s= 70;
  reflectanceSensors.init();
 digitalWrite(2, LOW);
 
  

  delay(500);
  pinMode(13, OUTPUT);
  digitalWrite(13, HIGH);        // turn on LED to indicate we are in calibration mode
  
  unsigned long startTime = millis();
  while(millis() - startTime < 10000)   // make the calibration take 10 seconds
  {
    reflectanceSensors.calibrate();
  }
  digitalWrite(13, LOW);         // turn off LED to indicate we are through with calibration

  // print the calibration minimum values measured when emitters were on
  Serial.begin(9600);
  for (byte i = 0; i < NUM_SENSORS; i++)
  {
    Serial.print(reflectanceSensors.calibratedMinimumOn[i]);
    Serial.print(' ');
  }
  Serial.println();
  
  // print the calibration maximum values measured when emitters were on
  for (byte i = 0; i < NUM_SENSORS; i++)
  {
    Serial.print(reflectanceSensors.calibratedMaximumOn[i]);
    Serial.print(' ');
  }
  Serial.println();
  Serial.println();
  delay(1000);
}

void sensor()
{
  // read calibrated sensor values and obtain a measure of the line position.
  // Note: the values returned will be incorrect if the sensors have not been properly
  // calibrated during the calibration phase.
  unsigned int position = reflectanceSensors.readLine(sensorValues);

  // To get raw sensor values instead, call:  
  //reflectanceSensors.read(sensorValues);

  for (byte i = 0; i < NUM_SENSORS; i++)
  {
    Serial.print(sensorValues[i]);
    Serial.print(' ');
  }
  Serial.print("    ");
  Serial.println(position);
  
  delay(250);
}
















//code down by Song Hui. PID CONTROL

void turn() {
  unsigned int position = reflectanceSensors.readLine(sensorValues);
  float K1 = 0.1;
  float K2 = 0;
  float K3 = 0;
  proportional = position - 2450;
  integral = integral + proportional;
  derivative = proportional - last_proportional;
  last_proportional = proportional;
  error_value = proportional* K1 + integral * K2 + derivative *K3;
  Serial.print(' ');
  Serial.print(proportional);
  Serial.print(' ');
  Serial.print(integral);
  Serial.print(' ');
  Serial.print(derivative);
  Serial.print(' ');
  Serial.print(error_value);
  Serial.print(' ');
  
  if (error_value < - s) {
    error_value = -s;
  }
  if (error_value > s) {
    error_value = s;
  }
  if (error_value <0 ) {
    motors.setRightSpeed(-s +error_value );
    motors.setLeftSpeed(-s -error_value );
  }
  else {
    motors.setRightSpeed(-s +error_value);
    motors.setLeftSpeed(-s - error_value);
  }
}








//what should the car do when it meets the junctions and how it gonna remember it

void loop(){

  unsigned int position = reflectanceSensors.readLine(sensorValues);
//  ****************  Comment out the first Y junction, to place the car after it
//    if (sensorValues[0] > 50 and sensorValues[5] < 50 and m==0){  
//    motors.setRightSpeed(0);
//    motors.setLeftSpeed(0);
//    delay(wait);
//    
//    motors.setRightSpeed(-s);
//    motors.setLeftSpeed(-s);
//    delay(1200);
//    m=m+1;
//   
//    turn();
//  }
// *******************************************************************

  if (sensorValues[0] > 50 and sensorValues[5] < 50 and m==0){  
    motors.setRightSpeed(0);
    motors.setLeftSpeed(0);
    delay(wait);

// ************** Insert move forward to clear the grass patch on left, with a more aggressive turn

    motors.setRightSpeed(-s);
    motors.setLeftSpeed(-s);
    delay(700);

// ****************    

    motors.setRightSpeed(-180); // change from -130
    motors.setLeftSpeed(80);
    delay(600);
   
    motors.setRightSpeed(-50);
    motors.setLeftSpeed(-50);
    delay(2000);
    
    motors.setRightSpeed(-50);
    motors.setLeftSpeed(30);
    delay(450);

    m=m+1;

    turn();
  }

  if (sensorValues[0] > 50 and sensorValues[5] > 50 and m==1){
    motors.setRightSpeed(0);
    motors.setLeftSpeed(0);
    delay(wait);
    
    motors.setRightSpeed(-s);
    motors.setLeftSpeed(-s);
    delay(1200);
    m=m+1;
    
    turn();
  }

  if (sensorValues[0] > 50 and sensorValues[5] > 50 and m==2){  
    motors.setRightSpeed(0);
    motors.setLeftSpeed(0);
    delay(wait);

    // *********** Change in Rev 2 to move forward x msec before turning ***************
    
    motors.setRightSpeed(-s);
    motors.setLeftSpeed(-s);
    delay(1200);
    // **********************************************************************************
    
    motors.setRightSpeed(-200); // change from -130
    motors.setLeftSpeed(100);
    delay(1000);
    
    motors.setRightSpeed(-50);
    motors.setLeftSpeed(30);
    delay(1200);
    
    motors.setRightSpeed(-50);
    motors.setLeftSpeed(-50);
    delay(500);

    m=m+1;

    turn();
  }

  if (sensorValues[0] > 50 and sensorValues[5] > 50 and m==3){
    motors.setRightSpeed(0);
    motors.setLeftSpeed(0);
    delay(wait);

  // *********** Change in Rev 2 to move forward 300msec before turning ***************
    
    motors.setRightSpeed(-s);
    motors.setLeftSpeed(-s);
    delay(850);
    
    motors.setLeftSpeed(-150); // change from -130
    motors.setRightSpeed(80);
    delay(2000);
   
   // Added straight
    motors.setRightSpeed(-80);
    motors.setLeftSpeed(-80);
    delay(1500);              // change from 1500
    
    motors.setRightSpeed(20);
    motors.setLeftSpeed(-90);
    delay(1200);

    m=m+1;

    turn();
  }

  if (sensorValues[0] > 50 and sensorValues[5] > 50 and m==4){
    motors.setRightSpeed(0);
    motors.setLeftSpeed(0);
    delay(wait);

    
    motors.setRightSpeed(-s);
    motors.setLeftSpeed(-s);
    delay(1200);
    m=m+1;
    
    turn();
  }

  if (sensorValues[0] > 50 and sensorValues[5] > 50 and m==5){
    motors.setRightSpeed(0);
    motors.setLeftSpeed(0);
    delay(30000);
    m=0;
  
  

 }

  else{
    turn();
  }
  
}

If you are in singapore, and can meet me to help, my number is 92210765!! PLEASE HELP!!

yeah, maybe it's a little late...

a) have you verified the baud rate on the RN-41 and on the arduino?

b) can you 'sniff' the traffic to see what the arduino is seeing?

c) can you verify the RN-41 settings using 'command codes' (see the manual for these, I've done it, so I know it works)

d) have you considered hardware flow control? Implementing this is non-trivial, but you might get hints from my XMega project over on github (XMegaForArduino).

the arduino cannot respond to flooded serial buffers very well, so you might also need to re-implement HardwareSerial with your own version (copy from cores/Arduino/HardwareSerial.* change the file names slightly, put in ~/sketchbook/libraries, etc.).

Have you tried using a serial adaptor (like 'FTDI Friend') in place of the bluetooth? Make sure you simulate the correct baud rate. You can also use it to simulate the arduino, connecting up a simple terminal program, and communicating to the RN-41 using the serial adaptor to verify it's working.

I've done a lot with RN-41 and RN-42, so I'm pretty sure this is solvable. One of the things I mentioned will probably get it working. Yeah, 10 days is past, but maybe you can still recover it?