I think I may have found a solution for controlling the LEGO+ module.
It turns out that when you install the arduino library for the M5Stack, there is an example to interface the LEGO module. It is located in File>Examples>M5Stack>Modules>LEGO_PLUS>LEGO_test
From that example code the I2C commands can be figured out. I hope this information is useful to anybody facing the same issue as me