I am using a MPU6050 Accelerometer/Gyro breakout (GY-521) to retrieve data and send it to a java program. I have tried several ways, but I couldn't find a way to send the float values calculated from the Arduino over Serial. Could you please let me know a good way of serial communication with Arduino and a Java Program? Thanks in advance.

UPDATE:

Thank you for your comments and replies. What I have tried is the I2Cdev library code. I could work with it without any issue. Code is in this link. I also could run the processing code to get a visual output. But the problem I have i that I'm not able to send the accelerometer and gyro data to a Java/C# program and process it from there. I tried sending an array of FIFO bytes from the Arduino and convert it from the C# code and processing code, but it didn't give me correct results. Now what i did was, just to send a string of values and receive it from the C# program. But I don't know whether it's good method. I would be glad if you could help me in this. Thanks again.

Arduino

#ifdef OUTPUT_TEAPOT
        // display quaternion values in InvenSense Teapot demo format:
        teapotPacket[2] = fifoBuffer[0];
        teapotPacket[3] = fifoBuffer[1];
        teapotPacket[4] = fifoBuffer[4];
        teapotPacket[5] = fifoBuffer[5];
        teapotPacket[6] = fifoBuffer[8];
        teapotPacket[7] = fifoBuffer[9];
        teapotPacket[8] = fifoBuffer[12];
        teapotPacket[9] = fifoBuffer[13];
        Serial.write(teapotPacket, 14); //Serial.write(buf, len)
        teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
    #endif
    
    #ifdef OUTPUT_ACCEL_STR_RAW        
        mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
    
        String accelGyroRaw = "STX,";
        accelGyroRaw += ax;
        accelGyroRaw += ',';
        accelGyroRaw += ay;
        accelGyroRaw += ',';
        accelGyroRaw += az;
        accelGyroRaw += ',';
        accelGyroRaw += gx;
        accelGyroRaw += ',';
        accelGyroRaw += gy;
        accelGyroRaw += ',';
        accelGyroRaw += gz; 
        accelGyroRaw += ',';
        accelGyroRaw += "ETX";
        
        Serial.println(accelGyroRaw);
        
    #endif

C# Code

class Program
{
    static SerialPort port = new SerialPort("COM7", 115200);
    //static int serialCount = 0;
    //static int aligned = 0;
    //static char[] teapotPacket = new char[14];
    //static float[] q = new float[4];

    static void Main(string[] args)
    {

        Console.WriteLine("****** Serial Console Read ********");
        port.Open();
        port.DataReceived += port_DataReceived;

        Console.Read();
    }

    static void port_DataReceived(object sender, SerialDataReceivedEventArgs e)
    {

        string s = port.ReadLine();
        string[] accelGyroVals = s.Split(',');
        string[] accl = new string[3];
        string[] gyro = new string[3];

        if (accelGyroVals[0] == "STX" && accelGyroVals[accelGyroVals.Length - 1] == "ETX\r")
        {
            accl[0] = accelGyroVals[1];
            accl[1] = accelGyroVals[2];
            accl[2] = accelGyroVals[3];

            gyro[0] = accelGyroVals[4];
            gyro[1] = accelGyroVals[5];
            gyro[2] = accelGyroVals[6];

            Console.WriteLine("a : " + accl[0] + " , " + accl[1] + " , " + accl[2] + "\t g : " + gyro[0] + " , " + gyro[1] + " , " + gyro[2]);
        }
        
    }

    static void CurrentDomain_ProcessExit(object sender, EventArgs e)
    {
        if (port.IsOpen)
        {
            port.Close();
        }
    }
}

Sorry for this for lengthy code and if my question is unclear. It's my first time to work with an IMU. Thank you.