i2c read failed: 4 with mpu6050 and saberthooth 2x25

Hi , and thanks for the fast reply

None of the components use interrups as far as i know, We are missingthe 4K7 resistors though..
Yes there is a logic analyzer for the i2c communication on the begining of the code that forbids the code to move on unless the comunication is established. There is also the code that gave us the "i2c read failed:4". This one is on the I2C part of the code that i have uploaded. There is also a schematic. We have connected all the groundings together.. Might have we overdone it???

Thanks in advance!

test5.rar (5.23 KB)