ui element to represent whether or not robot is in field centric cont…

…rol or robot centric control, true equals field centric.

src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java

@@ -136,6 +136,7 @@ public Hardware(NavX2 navx,
   private ControlCentricity m_controlCentricity;
   private ChassisSpeeds m_desiredChassisSpeeds;
   private boolean m_isTractionControlEnabled = true;
+  private boolean m_isFieldCentricEnabled = true;
   private Rotation2d m_allianceCorrection;
   private Pose2d m_previousPose;
   private Rotation2d m_currentHeading;
@@ -499,6 +500,7 @@ private void smartDashboard() {
     m_field.setRobotPose(getPose());
     SmartDashboard.putBoolean("TC", m_isTractionControlEnabled);
     SmartDashboard.putBoolean("PurplePath", m_purplePathClient.isConnected());
+    SmartDashboard.putBoolean("Field Oriented Control", m_isFieldCentricEnabled);
   }
 
   /**
@@ -831,8 +833,10 @@ public void autoDrive(ChassisSpeeds speeds) {
   private void toggleControlCentricity() {
     if (m_controlCentricity == ControlCentricity.FIELD_CENTRIC) {
       this.m_controlCentricity = ControlCentricity.ROBOT_CENTRIC;
+      m_isFieldCentricEnabled = false;
     } else {
       this.m_controlCentricity = ControlCentricity.FIELD_CENTRIC;
+      m_isFieldCentricEnabled = true;
     }
   }