None of our motor controllers have PID velocity control built-in. Given the extremely coarse position feedback from the hall-effect sensors on BLDC motors, it is unlikely the DCC1100 ever will. There is not enough resolution to give a truly accurate measure of velocity built-in to the controller.
The velocity limit you set in the MotorPositionController API is more of an upper limit on velocity, rather than something the motor controller will try to rigidly follow.
The basis of how out MotorPositionController API works can be found here:https://www.youtube.com/watch?v=0cQlxNd7dk4
If the motor falls too far behind the target motion profile, it will speed up catch up to the position it thinks it should be at, but no direct velocity control is implemented.
If you are running the BLDCMotor API, the Velocity you set and get back from the API are a 0-1 scale of the power to the motor, rather than a specific real-world velocity.
In order to know the motor's real-world speed with a DCC1100, you will need an external sensor, such as a rotary encoder