i have a mega connected to 4 nanos via i2c. Each nano reads from an motorencoder and calculates the rpm and then sends it to the mega when wire.requestfrom is called. Works like a charm. Now i connected a IMU to the i2c lines. I get all the data from the IMU and the nanos. But when i start the motors every now and then the i2c commuication is broken. I already added 330 Ohm in series on the SDA and SCL line, which improved it a bit. Could it be that when i change the speed of the motors the change in current draw leads to spikes for the vcc on the nanos which then leads to wrong highs and lows in the i2c protocol? Any ideas how to make the connections more stable?