Swerve Programming joystick issues

[mananb]

Hi,
Our team is planning on using a swerve drive train this year. We currently have 1 module (steer motor and drive motor) set up as a prototype. We are using CANTalons and CTRE absolute magnetic encoders.

The problem I am encountering while programming is that the joystick position wraps from 360 to 0, causing the wheel to pivot the long way around. For example, if the joystick and the wheel are at 350 degrees and the joystick is moved to 10 degrees, the wheel would take the long way all around. Is there any way to fix this issue?

Thanks