Set up config file handling

config file manager returns a qdomelement
gantry reads this qdomlement, and uses it to create a dynamixel and
cell.
testdata writes a csv
wrote position update function

Also started to account for alpha/beta issues discussed in email
edited position update
Cleaned up config file handling
fixed 'stopbits' in config file

ONESTOPBIT=0, beware
MERGE COMPLETED
fixed todo list
fixed many things, Still need some

* need to fix ccw speed calculation
* need to fix time and position reporting
fixed issues with dyna

removed counts per inch, fixed config
added inital last state constructor in jog
updated config for MX-64
fixed motor angle read errors, updated config to mx-64
removed bad contrustor case
everything is working!!! (cept position)

updated configs and alphas/betas
fixed time reads
fixed position calculation and data reporting
Go Home kinda  works

removed unneeded qdebugs
fixed direction reporting in goHome()
added and initial data point of 000 at start move