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Try aiming for the unstable power nodes if you can. They deal a ton of damage, enough to destroy any turrets near them.
Before: https://cdn.discordapp.com/attachments/149278460492251137/1046299776779550741/image.png
After: https://cdn.discordapp.com/attachments/149278460492251137/1046300464322465792/image.png
I know very little about CE, but Jaasrg's comment is probably the best answer. From what I understand you need very specific ammo to deal with them, otherwise they will just completely roll over you. Mechanoids in CE are a gear check, you either have the required gear or you are screwed.
If you have melee colonists (Especially with shield belts), send them to melee the centipedes. While they may come out with heavy injuries or dead, centipedes will be unable to fire if they are engaged in melee, buying time for your ranged colonists to fire without retreating.
If there are centipedes ready some rpgs with heat ammo or the disposable version. Then smoke the turrets that can see your ambush squad. Try to kill the centipedes in the first volley. Two pawns aiming at each centipede works well. The other mechs are much easier to kill with normal weapons.
You may construct some walls to make this easier.
If you have enough pawns you may have some of them use the thermobaric rpg ammo to kill turrets in the first volley. Concussion grenades should work as well.
If some centipedes survive either run away completely or take cover behind the walls of the cluster and attack them in melee or reload and peek around the wall with a snapshot, since they will take a while to get to you. For the normal mechs a simple firing line with decent automatic weapons should work as they come around the corner. Remember that mechs always use aimed shots so you can usually get an unaimed shot off and then get back behind a wall and centipedes are very easy to hit.
After you got rid of the mechs smoke the turrets again and destroy them however you want. They do have a minimum range so you can even melee them.
Do not try to outshoot the turrets - you will lose unless you have ridiculous armor or firepower. For dealing with smaller mechs without charge weaponry i recommend getting weapons with 7.51 ap incendiary ammo. It can even kill centipedes if you are desperate.
Flamethrowers with promethium ammo will also kill all mechs but unlike humans they will still try to kill you while on fire. Incendiary artillery works as well.
Dont bother trying to kill centipedes solely with handheld emp weapons. They have too much health. You can get emp shotgun slugs very early, if you have no other choice.
The anti tank rifles can technically kill centipedes but they do so slowly and you will very likely get return fire. The mechs generally arent too precise against targets in cover at longer ranges, but its very risky.
If you are defending against bigger mechanoids you can use the stationary weapons to kill them quickly. I think you can minify the KPV machine gun and carry it to a cluster. Pretty sure that thing will kill a centipede in one burst if most shots hit with api ammo.
If you are truly desperate you can try aiming for the head of the centipede and perhaps hit the less armored sight sensors and make it waste its ammo.
Lastly i would usually say that you can get away with only wearing helmets in CE for a very long time but if there are militors get body armor since shotguns can fire quickly when you try to ambush them walking around a corner and they will kill or down unarmored things in one shot.
Lategame only blaster centipedes are a real threat to power armored cyborgs so it will get easier.
Btw you can check the armor values of the mechs in their info card.