1. Added a prev set velocity for motorized joints.
2. Modified RbDynamixelServo to use a stop command when doing velocity control and setting the velocity to 0. Still need to test this with DynamixelUSB controller.
3. Modified the offsets on the XBee commander to make sure it was 0. I am unsure if this would be similar from one XBee to another or not.
I have the robot arm with the xbee commander working now!

1. I added an IOValuescaled to the robot part interface to be able to chart the value after it is run through the gain. IOValue is the actual fixed point value from the hardware.