HELP Swerve Drive!!!!!

[beandip3160]

Ok I'm actually pretty new to labview and actually programming altogether and this year our team decided on using swerve drive for our robot. I am freaking out because we only have four days left and this drive system is a nightmare. Can somebody help me please. our main problem is getting the pod part of the wheels to act like a servo motor and follow the axis value of the controller we're using with a max turn of 90 degrees i have the encoder wired correctly and the encoder isnt a problem so how can i make the motor act as described above