When robot turns, it moves faster than controlled and moves laterally

[jamesdooley4]

During drive practice this week, they noticed that when the robot was commanded to only rotate, it'd also start moving laterally a bit rather than turning in place.
Looking at a log from today at about 632.1s I noticed that the measured states were 30-50% larger than the desired speed - and were about 10% different from each other

[jamesdooley4]

Looking at a larger period of time, the measured states are consistently higher than the desired states:

and