[Anupam Goli]

I'd say that speed control in teleop is definitely useful, but mainly for a low speed and high speed setting, or if you want to have a smooth Drivetrain power curve. That smooth curve allows the driver to more smoothly drive instead of accidentally putting too much force and causing the wheels to slip.

In implementation, I think it would be simple to calculate velocity using the encoders, and have that as your actual, and use the input power and gearbox calculations for your value you want on the drivetrain, with the error being the difference in the wanted value and the actual value.