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I'm trying to connect multiple sensors to the Power and I2C pins of the GPIO header of a Pi 3B, but I can't find an easy way to do it using the standard plug-in jumper cables that are often used for prototyping.

All I could find was these splitters on Amazon, which would allow me to connect two devices, assuming the pins are the right size (as it happens the pins I need are next to each other):

splitter product

I was hoping for something that could be "stacked", like these banana plug jumpers but obviously smaller:

stacking banana jumpers

It seems to me that I2C is very convenient for connecting multiple sensors, since they can all share the same pins - but it would be a shame if I can't get this sharing to occur without soldering or introducing a bulky solderless breadboard...

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Use a breadboard like the rest of us. They come in many sizes; the smaller breadboards will take up less space, and you are less likely to damage the Pi.

NOTE to use I²C you NEED 3 connections at least and most I²C devices also need a 4th connection for power.

See https://raspberrypi.stackexchange.com/a/79884/8697 but there are hundreds of tutorials.

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