I found a tutorial on how to modify a servo so that you could read the internal potentiometer. http://www.eamaemirkin.com/site/serv/
I thought this would be useful to some people on this site so I made this post. This can be used for many different things like making programming your robot easier or making your robot be able to recreate motions done to it. On the same site he has an example robot that used these servos.