I recently rewrote the Swerve Drive code that we used during the competition, making it more optimized, easier to understand, and adding the capability to rotate around any point.
Here's Swerve v3:
Here are the LabVIEW files:
https://dl.dropboxusercontent.com/u/...Drive%20v3.zip
And here's a presentation explaining it:
http://goo.gl/quvrwx