diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 23d420f..a53804b 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -62,6 +62,7 @@ public final class Constants {
         // swerve configuration
         public static final double NEUTRAL_DEADBAND = 0.04;
         public static final double OPEN_LOOP_RAMP_RATE = 0.2;
+        public static final int REMOTE_0 = 0;
     }
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 0;
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index f09ae2a..85da254 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -9,6 +9,7 @@ package frc4388.robot;
 
 import com.ctre.phoenix.motorcontrol.InvertType;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.PigeonIMU;
 import com.ctre.phoenix.sensors.AbsoluteSensorRange;
@@ -127,6 +128,12 @@ public class RobotMap {
         leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
         rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
         rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+
+        // config cancoder as remote encoder for swerve steer motors
+        leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+        leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+        rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+        rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
     }
 
 }