I have just finished programming my 6 BlueESCs with unique I2C addresses. I used id0. hex to id5.hex firmware files to program my BlueESCs with I2C addresses 0x29 to 0x2E.
I then used the Arduino I2C ESC program to communicate with each ESC and verify that its I2C connection was functional.
You can read about my BlueESC I2C address programming in detail here.
I will be glad to answer any BlueESC I2C programming questions that anyone might have.