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Well in designing a very crude '4 wheel steering' system over the summer I ran into a very similar problem. The solution I came up with is rather crude as well but it appears to work. I normalized the X and Y values to 1000 and then looked at the difference between the two to get the angle that the joystick is at and also the angle the wheels should be pointing to. I can include a bit of the code on how I did it. Again it probably (for sure) isn't the best way to do it but it works for now.
Any more questions feel free to e-mail me.
B.T.W. the file is a section of the code I am just getting into breaking into slots I have the rest if you need it
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