Legality of running a capacitor inline with roboRIO power

[ImOn3618]

I can say with 100% certainty that our wiring is not the problem. The wiring is pristine, and correct. My question is what can be done to minimize input current spikes as much as possible, assuming all wiring is correct, and a non-issue.

We've considered adding code to soften drive input, as we tend to brown out when changing directions rapidly.

Changing the Talons to coast mode rather than break would also likely help to soften input, right?Correct me if I'm wrong, this would also make changing directions more taxing if still rolling.