Using Derek Molly's video (and some google searches and tweaking) I was finally able to get QTCreator running in an Ubuntu VM and can cross-compile and deploy to the BBB.
I would document everything I did, but to be honest, I'm not sure what all I had to do to get it all working. The download links that Derek used are no longer valid and I had to find alternatives which required a little bit of tweaking.
But the most important part for this entry is that I need a new name! Just for the hell of it, I searched "Mix-A-Bot" in google, and found someone already had a robot arm and named it Sir Mix-A-Bot. :-(
Currently taking suggestions... *hint*hint*