Maintaining perfect control of mecanums using encoders?

[Ether]

Originally Posted by BBray_T1296

I think, more precisely, you are setting a 'power' value,

Not really. More precisely, you are setting a PWM duty cycle value, which most closely correlates with applied voltage, not power.

less directly linked to speed than you need, which is the root of the problem

True.

If you measured an unloaded CIM running at "50%" PWM, you will find it attains a RPM far greater than 1/2 of its RPM at 100% PWM

In the above, are you referring to the duty cycle of the motor controller's output PWM, or the duty cycle of the PWM servo command signal coming into the motor controller?

If the former, what is your source for that claim?