I got the Dynamixel motors to work correctly. I was incorrectly trying to send the low and high word separately for setting position and velocity and such. Instead, I needed to set a word with the low starting position. I was able to get the robot to respond essentially the same as the simulation. It is more noisy though. I will still need to refine this a great deal to make it more responsive. When I start adding a lot of motors and polling data it will become unmanageably slow.