CTRE Phoenix Swerve Generator Field Centric not working

FIRST
1

Hello my teacher just called me a bad driver on the swerve. However, I found out that my robot operates robot centric instead of field centric. here is the code where I call for it to be field centric.

  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
      .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
      .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // I want field-centric
                                                               // driving in open loop

I see potential issues outside of this as the pigeon 2 isn’t in the same CANivore FD Bus. Also with changing the kCANBus constant within the code to “Swerve”, it says that im using licensed features with unlicensed products.

2

Your swerve request looks fine, but CTRE’s generated code requires the pigeon to be on the same CAN bus as the rest of your swerve. You can ignore the licensed features on unlicensed products message in the generated swerve code, it’s because it uses FusedCANcoder, a licensed feature, but automatically switches to RemoteCANcoder if you don’t have a license. You can switch FusedCANcoder objects in the TunerConstants.java file to RemoteCANcoder if you want to get rid of the message.