If you have a Raspberry Pi you can use your existing LEGO MINDSTORMS Sensors. Thanks to John Cole from Dexter Industries for sharing this with us.
“This is also a great example of how to get started with I2C on the Raspberry Pi. We chose the dIMU because it’s easy to access and use, with just four lines to connect (SDA, SCL, GND, and VCC).  You may have to make modifications to attach other sensors.”