Just thought I'd assist. The chip being driven with I2C is a PWM Expander. 
The PCA9685. 

The motor driver shield he is talking about is this:
https://learn.adafruit.com/adafruit-motor-shield-v2-for-arduino/resources



On Friday, October 3, 2014 5:27:06 AM UTC+1, Ytai wrote:
>
> It is very likely a lot simpler than you imagine. The Arduino I2C 
> libraries are more complicated to use than the IOIO ones. Do you have a 
> link to the driver you're talking about? Ideally, a datasheet of the I2C 
> device.
>
> On Sat, Sep 27, 2014 at 8:53 AM, Bill Carter <[email protected] 
> <javascript:>> wrote:
>
>> I'd like to experiment with I2C, and the Adafruit motor Arduino motor 
>> shield appears to be able to drive a lot of different things via I2C. 
>> Unfortunately the I2C interface doesn't seem to be well documented. There 
>> is an Arduino library for driving it. Has anyone worked with this board and 
>> the IOIO? I don't think I'm up to writing an interface library for it in 
>> Java as a first project.
>>
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