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Re: Power Draw
Capacitors are not inherently illegal, but they would be considered custom circuits, and as such, can not "alter power pathways" including those feeding motors and/or motor controllers.
The best thing you can do is monitor the battery level in code using DriverStation.getBatteryVoltage();, and account for a lower voltage by increasing power. Older batteries can also lose voltage faster, so only use healthy batteries in competition.
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