Centipedes are predators. They have a pair of maxilliped witch holds a pair of poison fangs. I dont no if you have ever been bitten by one, but I have heard that it is extremely painful. If you want to see, pick one up and see, it would be a good learning experience. I do believe that there is a chance that it could bite your cham, and poison him and either killing him or making him very very uncomfortable. I dont no if they are toxic or not but the chances of them biting your cham, and the stress of all the pain is not worth a free meal to me.
I have seen videos of chams eating large Millipedes, but these are herbivores, so no poison with them.