Robostix questions

I have been working with this thing for a while and I'm having a hard time getting all of these things straight.  Basically, what I want to do is use the gumstix i2c interface to get the robostix data and send it over an ethernet link on the netpro.  The gumstix stuff I'm straight on for the most part.  i'll be interfacing with PWMs and A/D inputs.  I have looked at athe i2c-io and i2c-io-api files, but I'm getting lost in what i really need to get it done.  Some questions...

What files do i need to get i2c communication going between gumstix and robostix?

I flashed the robostix with the Simple-Flasher.hex file but now i don't know how to get it off or how to get the bootloader going again (this is why i'm now actually wondering if i need the i2c bootloader at all since i used uisp to get the hex file on the robostix, but the i2c doesn't respond now).

As well, i inherited this robostix from someone elses project, so I'm not positive what's on there.  I know the i2c boot loader was there and the corresponding file for the robostix (based on the blinking red LED twice a second), but otherwise i don't know.  

Thanks for any help at all, I'm open to any comments.