Create panel > Geometry button > Extended Primitives > Object Type rollout > Capsule button
Create menu > Extended Primitives > Capsule
Tab panels > Objects tab > Capsule Object
Use Capsule to create a cylinder with hemispherical caps.

Examples of capsules
Edge—Draws the object from edge to edge. You can change the center location by moving the mouse.
Center—Draws the object from the center out.

Radius—Sets the radius of the capsule.
Height—Sets the height along the central axis. Negative values create the capsule below the construction plane.
Overall/Centers—Determines what the Height value specifies. Overall specifies the overall height of the object. Centers specifies the height of the midsection of the cylinder, not including its domed caps.
Sides—Sets the number of sides around the capsule. Higher numbers shade and render as true circles with Smooth on. Lower numbers create regular polygonal objects with Smooth off.
Height Segs—Sets the number of divisions along the capsule's major axis.
Smooth—Blends the faces of the capsule, creating a smooth appearance in rendered views.
Slice On—Turns on the Slice function. Default=off.
When you create a slice and then turn off Slice On, the complete capsule reappears. You can use this check box to switch between the two topologies.
Slice From, Slice To—Sets the number of degrees around the local Z axis from a zero point at the local X axis.
For both settings, positive values move the end of the slice counterclockwise; negative values move it clockwise. Either setting can be made first. When the ends meet, the whole capsule reappears.
Generate Mapping Coords—Sets up the required coordinates for applying mapped materials to the capsule. Default=off.
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