Interfacing lm35 to msp430g with PID

good am everyone.. i've started using msp430g2553 to be used to interface lm35 and will give a pwm output depending on the PID results. here's my code:

#include <msp430g2553.h>





float act_temp;
int des_temp = 5;
float error = 0;
float error_sum = 0;
float error_prev = 0;
float error_diff = 0;
float kp = 10000;
float ki = 50;
float kd = 1;
float dt = 1;
float pid;
int pwm;
int k;


char data[5];
void TX(char *tx_message);


unsigned int measure;
unsigned int measure_1;
unsigned int measure_2;


void main(void){


WDTCTL = WDTPW + WDTHOLD;                      // Stop WDT
BCSCTL1 = CALBC1_1MHZ;                // Set DCO to 1MHz
DCOCTL = CALDCO_1MHZ;


  
   P1SEL = BIT1 + BIT2;             
   P1SEL2 = BIT1 + BIT2;     
   UCA0CTL1 |= UCSSEL_2;                 
   UCA0BR0 = 104;                 
   UCA0BR1 = 0;                             
   UCA0MCTL = UCBRS0;                       
   UCA0CTL1 &= ~UCSWRST;    
  
ADC10CTL0 |= SREF_0|ADC10ON|ADC10SHT_2;//ADC setup
ADC10CTL1 |= INCH_4|ADC10SSEL_1|CONSEQ_1;
ADC10AE0  |= BIT0;
ADC10CTL0 |= ENC|ADC10SC;


TACTL = TASSEL_1|ID_3|MC_1|TAIE;
TA0CCTL1 = OUTMOD_7;
TACCR0 = 50000;


for(;;)
{
  ADC10CTL0 |= ENC + ADC10SC;                   
  int raw_temp = ADC10MEM;
 float temp = (ADC10MEM*350)/1024;
 // des_temp = UCA0RXBUF;
  act_temp = temp;
  error = (act_temp - des_temp);
  error_sum = error_sum + error;
  error_diff = (error - error_prev)/dt;
  pid = (kp*error) + (ki*error_sum) + (kd*error_diff);
  pwm = (int)pid;
  error_prev = error;
  P1SEL |= BIT6;
  P1OUT |= BIT6;
  TACCR1 = pwm;
  
 if (pwm < 0){pwm = 0;}
if (pwm > TACCR0){pwm = TACCR0;}
  
//sending data to uart      
      
       int measure1000; //declare measure1000 as interger
       int measure100;         //declare measure100 as interger
       int measure10; //declare measure10 as interger
       int measure1; //declare measure1 as interger


measure1000 = ((raw_temp)/1000)%10; // measure10 is the 10's place digit
measure100 = ((raw_temp)/100)%10;    // measure100 is the 100's place digit
measure10 = ((raw_temp)/10)%10; // measure10 is the 10's place digit
measure1 = (raw_temp)%10;       // measure1 is the 1's place digit
    


data[0] = (char)(((int)'0')+measure1000);  //measure10 - 2nd char string
data[1] = (char)(((int)'0')+measure100);   //measure1  - 3rd char string
data[2] = (char)(((int)'0')+measure10);  //measure10 - 2nd char string
data[3] = (char)(((int)'0')+measure1);   //measure1  - 3rd char string
data[4]='\0';    //end of character string


//send data


TX(data);
TX("\r");
  
  __delay_cycles(1000000);
}
}


void TX(char *tx_message)
 {
    unsigned int i=0;    //Define end of string loop int
    char *message;       // message variable
    unsigned int message_num;          // define ascii int version variable
    message = tx_message;  // move tx_message into message


while(1)
 {


 if(message[i]==0) // If end of input string is reached, break loop.
    {
       break;
    }


 message_num = (int)message[i];  //Cast string char into a int variable


 UCA0TXBUF = message_num;  // write INT to TX buffer


 i++;  // increase string index


 __delay_cycles(250000);  //transmission delay


 if(i>50) //prevent infinite transmit
    {
    P1OUT |= BIT6; //P1OUT LED will indicate error
    break;    //Break the transmit
    }
       
    } // End TX Main While Loop


       
    } // End TX Function


// ADC10 interrupt service routine
#pragma vector=ADC10_VECTOR
__interrupt void ADC10_ISR(void)
{
__bic_SR_register_on_exit(CPUOFF);  // Clear CPUOFF bit from 0(SR)
}