[Tyler]

I2C Tutorial for Robot Builders
     

I2C is a multi-master serial bus that's very common on
microcontrollers and can be used by a robot builder to attach sensors or
actuators, or as a communications channel between multiple processors. The
uC Hobby blog has posted a good introduction
to I2C by Grinan Barrett that includes examples,
schematics, and source code for working with the I2C bus. In
addition to taking the reader through his own experiences, there are
also links to FAQs and other sites with additional information.
   

http://robots.net/article/2642.html