It would help to describe your drive train setup, motors, gear ratios, wheel sizes, etc. Ideally, you should design your drivetrain so that you don't draw too much current. That might mean adding more motors or changing the gear ratio so that your top speed is a little slower and the load is less.
Our general philosophy is that a well trained driver is better able to handle issues like this, rather then the code. A driver can easily learn to ramp up on the joysticks in normal cases, but push it when really needed.
We did use a ramp up in autonomous, which made it a little more repeatable. We ramped to full speed in 1 second in high gear, and to full speed in 1/5 of second in low gear. This was implemented as a command that took an input and checked the difference between that input and the previous input, and clamped the change if it was too large.
The Jaguars do have an automatic ramp feature (independent of the PID feature). See the
Jaguar FAQ.
PID is overkill if all you want to do is implement a ramp.