I just left a company that had me going weekly to Norfolk VA from Baltimore Maryland.... Do they have to pay me for my living expence? Travel time? Is there a set per diem for travel out of state?

If travel is required for the job and you are not an independent contractor, some type of travel expense pay should be available. In what form depends on the employer policy. Some do per diems, some pay for actual expenses and mileage for travel. There is a federal per diem, but private employers may not necessarily follow that for a locale.