i2c read failed: 4 with mpu6050 and saberthooth 2x25

I am a beginner with Sabertooth and Arduino Uno Circuit.
I am having a tough time getting started and this seems kind of complex, nothing I have tried from Sabertooth and Arduino library has worked I did upload the blink test and that worked between the computer and the UNO but other than that I feel stuck.
We are running a Sabertooth 2x25 with Arduino Uno Board.
Our system is operated with a remote controller currently and we wanted to add the functionality option of autonomous.

So what we are trying to do is drive our system with remote control to a given location and then start the program.

Right now I have not even got the UNO circuit to even control the motors yet.
Can anyone help?
I uploaded programs but all seem to error out one way or the other.

Has anyone have the programs and code that works for the Saber tooth - UNO intergration?
Thanks I appreciate any help I can get!