Well just starting off Ive done a thread on this and I think pretty overwhelmingly the answer was that its illegal to use capacitors directly with the motors, This is for FIRST right? That being said, If not I recommend
http://www.seattlerobotics.org/encod...97/basics.html (Its a pretty good summery and covers exactly what you are looking for). Here this says it perfectly.
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Bypass capacitors help filter the electrical noise out of your circuits. They do this by removing the alternating currents caused by ripple voltage. Most digital circuits have at least a couple of bypass capacitors. A good rule of thumb is to add one bypass capacitor for every integrated circuit on your board. A good default value for a bypass cap is 0.1uF. Higher frequencies require lower valued capacitors.
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