[Ether]

2013 FRC WPILib (at least for Java) has added a feedforward term to the PIDController to help support using the library PID for speed control.

So this gives you other options.

Instead of integrating the PID output, you can set your feedforward gain so that the feedforward motor command corresponds roughly to what you'd expect is required for the speed you are commanding. Then tune the PID with I only (set P and D to zero) to get the steady-state accuracy.