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I2C is available at the RF headers. You can get some of the samtec sockets and run jumpers to breakout UART1, RF_SPI and I2C0. Currently, I've done this to add my own homebrew CC2500 board to the evalbot as well as connect an I2C compass and barometric pressure sensor. For I2C software examples, I looked through the different dk examples provided in the full Stellaris driver library.

Thanks Greg. 

I believe that you were talking about I2C data and clock on pins 11 and 13 on J5. I see them connected to ASDA and ASCL, which I don't understand what they are. But the pins being available, I understand that I can use I2C interface. 

Btw, could you tell me more about the Samtek connector you used. Does it have any special name, or is it just any 20pin Samtek Connector? 

Thanks again. 

Yes, those the pins to use. Look at U1, ASDA and ASCL are connected to PB2 and PB3 which are I2C0SDA and I2C0SCL. My project doesn't have use for the audio at this time and since I2C1 is not broken out to pins and in use for the display, the only available I2C access is via I2C0. I'm not positive, but I believe the audio would still be available as multiple devices can exist on an I2C bus (127 devices?). 

I had found the Samtec part number in the user's guide. The sockets are a bit expensive but I managed to get a few samples for experimenting. TI sells the EM2 Expansion Board (DK-LM3S9B96-EM2) which makes me believe the I2S and I2C can work together with no issues as it includes I2C memory on board.

Sure. I printed the gerber file and used it as a template for cutting a small piece of hardboard. Using some 1.25" 4-40 screws and some nylon spacers, I mounted the board to the motor mounting tabs (after removing the original screws first). Pretty simple to get some prototyping done.