Ultrasonic Rangefinder Operating On I2C Bus

[CapnBFG]

A friend and I are up at Clarkson University this summer for a research project involving robotics. We are working with one of Team 229's old test robots. Our end goal will be to have the robot navigate campus autonomously, but right now we are in the stage of adding sensors. I'm handling all the electrical work, and my friend is doing all the programming (you'll probably hear from him in that forum; in think he signed up as Immortalares).

Right now I am finding a way to collect data from an ultrasonic rangefinder. We have this sensor, which operates on an I2C bus. I am able to understand the bus enough to set it up, but I need to know if we will be able to use the RC to interface it. I already found out that the RC is based on a PIC18F8520, but before I read the lengthy data sheet for that chip, does anyone know on what type of bus the RC operates? If it is an I2C bus, is the bus accessible for us to add an additional slave device?

Thanks in advance.

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I found in the PIC datasheet that it does support I2C communication, and I have plenty more reading to do on that. I still would like to know how to access the bus on the RC.