Our team is using the new swerve API from Phoenix 6. In the documentation, it said that the swerve API is not a Pro feature. However, the rio log continuously log out “UsingProFeatureOnUnlicensedDevice” error. I’m using the CTRE official example on swerve API. (Phoenix6-Examples/java/SwerveWithPathPlanner at main · CrossTheRoadElec/Phoenix6-Examples · GitHub)
I guess the error is caused by the time sync API in Phoenix Pro, so how can I turn off this feature?
Given that’s on config apply, it’s actually probably the use of FusedCANcoder for the steer motors. We fall back to RemoteCANcoder in this instance, so everything will still work, we just also report a UsingProFeatureOnUnlicensedDevice error to alert the user.
If you don’t plan on using Phoenix Pro and want to get rid of the error message, you can change the TunerConstants FeedbackSource to RemoteCANcoder.
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