Swerve drive with automatic rotation?

[big1boom]

We have something like this implemented with our mecanum drive this year. Instead of going full field oriented due to the different travel speeds (forward is faster than sideways), we have a gyro snap to angle function. We are using an xbox 360 controller. To snap to 0 degrees (direct towards the rack), the driver just has to hold the 'A' button. To snap to 180 degrees (feeder slot), the driver just holds the 'Y' button. Whenever one of those buttons is held, the robot disables the rotation joystick and will try to maintain that heading. It is actually pretty cool to watch, and fairly simple to drive.

We have not encountered too much gyro drift, but we do have a reset button that reinitializes the gyro.

I have a feeling this could be implemented with swerve in a similar way