Correct me if I am not understanding exactly what you are looking for here but it looks to me like you may be making it more complicated than it needs to be. Looks like you could simply just stay with using % and just have these functions:
$('.showMenu').click(function(){
$('#navPanel').animate({left: 0}, 400);
});
$('.hideMenu').click(function(){
$('#navPanel').animate({left: "-20%"}, 400);
});
As demonstrated here: http://jsfiddle.net/X9Jrc/3/