Dc motor with PWM and current sensing

Wow! Thanks a ton!!

Then, I'd like to make a circuit like this and choose to prefer cap by the datasheet. is that correct?

[Circuit]
image

[datasheet]

and

In fact I'd suggest sampling across more than a single period and use a capacitor of e.g. 470nF.

what does it mean by?? For this newbie, it's tough to come by...