If your goal is just to measure turning in autonomous, I have tried the gyro on page 12 of the KOP in it works remarkably well. It is also really easy to code because it just uses the Java WPI Gyro class:
http://www.usfirst.org/sites/default...ckToteRevB.pdf
If you want to use the MPU6050, I would think it would be best to buy a breakout board designed just for that purpose with good documentation, like Sparkfun's:
https://www.sparkfun.com/products/11028 (or some cheaper ones from Amazon:
http://www.amazon.com/s/ref=nb_sb_no...Ck%3Agy%20521). I just bought one of these for a personal quadcopter project using an Arduino, for which I am fairly confident it will work.
I've never used I2c, but I would watch out because the I2C port on the digital sidecar is 5v and the mpu 6050 runs at 3.3 v (I couldn't tell if that Hobbyking chip converts the i2c to 5v)