HD44780 LCD Display Timeout Error

Hmm, just double checking pins and HD44780 documentation

Yellow - SCL1 - B6
Orange - SDA1 - B7

Please try this snippet - hope it works for you.

I2C1.setup({scl:B6, sda:B7});   
// PCF8574AT based IO expanders default to address 0x3F
var lcd = require("HD44780").connectI2C(I2C1, 0x3F);      
lcd.print("Hello World!");