[Al Skierkiewicz]

Guys,
<R63> A signal filter may be wired across motor leads or PWM leads. For the purposes of inspection and rules compliance, such filters will not be considered custom circuits, and will not be considered a violation of Rule <R47> or Rule <R62>. Acceptable signal filters are:
 A one microfarad (1 μF) or less non-polarized capacitor may be applied across the power leads of any motor on your ROBOT (as close to the actual motor leads as reasonably possible)

However, I have never used this method and never needed it.