[2B || !2B]

Hi everyone! I have been tasked with creating a master class (Java) for all things I2C because the last time we used it, the robot had some major lag issues, and once the sensor crashed the robot so hard it stopped moving during competition. The device I will be communicating with is the GY85 accelerometer/compass/gyro sensor. Is there anything I should know? Any fun stories? (Any and all information is appreciated!)