[Racer26]

First off, its all related to how you design your swerve drive.

Second, Why not just have your wheels designed to travel through 180 degrees? Then you map joystick full left to 90deg left of centre, joystick full right to 90 deg right of centre, and then use the Y axis of the joystick to control wheel speed?

This is essentially what 1075 has done in the past, with some fancy code to give us extra steering modes.

Why do you need to be able to rotate 360 deg? The motors and gear ratios you would use to steer a swerve drive are more than fast enough to spin the wheels ~180 deg in very little time.