I am trying to receive information from ROS on MSP432(micro-controller) via UART.

The information from ROS side is as following. I would like to take the number between * and #.

For example, the first number(90) between * and # is my motor 1 value and the second number(-53.2708) between * and # is my motor 2 value. Again, the first number(90) between * and # is my motor 1 vale and keep going. The values can be changed in real time.
The code doesn't take the number as I expected. Could someone help me to debug it?

!90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708#90#-53.2708# .........

#include "driverlib.h"
#include "msp432p401r.h"
#include "msp.h"
#include "driverlib.h"
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>

char receivedBuffer1[200]; // All letters from Putty
char receivedBuffer2[200];
int f=50; int s=50;
//Set configure UART communication
// Configure UART for 115200 baud at SMCLK = 3 MHz
const eUSCI_UART_Config uartConfig =
{
    EUSCI_A_UART_CLOCKSOURCE_SMCLK,                     // selectClockSource
    1,                                                  // clockPrescalar
    10,                                                 // firstModReg
    0,                                                  // secondModReg
    EUSCI_A_UART_NO_PARITY,                             // no parity
    EUSCI_A_UART_LSB_FIRST,                             // LSB first
    EUSCI_A_UART_ONE_STOP_BIT,                          // One stop bit
    EUSCI_A_UART_MODE,                                  // UART mode
    EUSCI_A_UART_OVERSAMPLING_BAUDRATE_GENERATION       // Oversampling
};

int main(void)

{
    // Halt watchdog timer
    WDT_A_holdTimer();
    // Set pins 2 and 3 of port 1 to the primary module function (UART)
    GPIO_setAsPeripheralModuleFunctionInputPin(GPIO_PORT_P1,GPIO_PIN2 | GPIO_PIN3, GPIO_PRIMARY_MODULE_FUNCTION);
    // Set clock frequency
    unsigned int dcoFrequency = 3E+6;
    CS_setDCOFrequency(dcoFrequency);
    CS_initClockSignal(CS_SMCLK, CS_DCOCLK_SELECT, CS_CLOCK_DIVIDER_1);
    // Initialize UART
    UART_initModule(EUSCI_A0_BASE, &uartConfig);
    UART_enableModule(EUSCI_A0_BASE);
    // Disable all interrupts
    Interrupt_disableMaster();
    // Clear interrupt flag(UCA0IFG)
    UART_clearInterruptFlag(EUSCI_A0_BASE, EUSCI_A_UART_RECEIVE_INTERRUPT);
    // Arm interrupts when RXIFG is set
    UART_enableInterrupt(EUSCI_A0_BASE, EUSCI_A_UART_RECEIVE_INTERRUPT);
    // Set interrupt Priority
    Interrupt_setPriority(INT_EUSCIA0, 0);
    // Enable interrupt
    Interrupt_enableInterrupt(INT_EUSCIA0);
    // Enable NVIC
    Interrupt_enableMaster();
    // Main program loop
    while(1)
    {
        PCM_gotoLPM0InterruptSafe();

    }
}
volatile int a = 0;
int b;
float reference1;
float reference2;
// Interrupt Service Routine
void EUSCIA0_IRQHandler(void)
{
    uint8_t letters; // storing letters in UCA0RXBUF
    letters = UART_receiveData(EUSCI_A0_BASE);
    if(letters == '!'){
        s=1; }


    if(letters == '*' && s==1 && f!=2 && f!=0 && f!=3){
        f=0;
        printf("f = %d\r\n", f); }

    else if(f==0 && letters != '#' && s==1){
    receivedBuffer1[a] = letters;
    a++; }
    else if(f==0 && letters == '#' && s==1){
        f=1;
        printf("f = %d\r\n", f);}
    else if(f==2 && letters == '*' && s==1 && f!=5){
        f=3;
        printf("f = %d\r\n", f);}
    else if(f==3 && letters != '#' && s==1 && f!=5){
    receivedBuffer2[a] = letters;
    a++; }
    else if(f==3 && letters == '#' && s==1 && f!=5){
        f=4;
        printf("f = %d\r\n", f);}

    if(f==1 && s==1){
        reference1 = atof(receivedBuffer1);
        for(b=0;b<=199;b++){
            receivedBuffer1[b]= 0x00; }   // Clearing out all the buffer with NULL}
            a=0; f=2;
            printf("f = %d\r\n", f); }
    else if(f==4 && s==1){
        reference2 = atof(receivedBuffer2);
        for(b=0;b<=199;b++){
            receivedBuffer2[b]= 0x00; }   // Clearing out all the buffer with NULL}
            a=0; f=5;
            printf("f = %d\r\n", f); }
}