@@ -0,0 +1,1978 @@
+package com.edinarobotics.zed.subsystems;%0A%0Aimport com.edinarobotics.utils.commands.MaintainStateCommand;%0Aimport com.edinarobotics.utils.subsystems.Subsystem1816;%0Aimport edu.wpi.first.wpilibj.Relay;%0A%0Apublic class Collector extends Subsystem1816 %7B%0A    private Relay leftStar;%0A    private Relay rightStar;%0A    private Relay roller;%0A    private byte leftStarDirection;%0A    private byte rightStarDirection;%0A    private byte rollerDirection;%0A    %0A    public Collector(int leftStar, int rightStar, int roller)%7B%0A        super(%22Collector%22);%0A        this.leftStar = new Relay(leftStar);%0A        this.rightStar = new Relay(rightStar);%0A        this.roller = new Relay(roller);%0A        leftStarDirection = 0;%0A        rightStarDirection = 0;%0A        rollerDirection = 0;%0A    %7D%0A    %0A    protected void initDefaultCommand()%7B%0A        setDefaultCommand(new MaintainStateCommand(this));%0A    %7D%0A    %0A    /**%0A     * Sets the direction of the collector mechanisms.%0A     * A positive value will set the collector to a forward direction. Forward%0A     * is defined as the direction that will bring discs into the robot.%3Cbr/%3E%0A     * A negative value will set the collector to a backwards direction.%3Cbr/%3E%0A     * A zero value will stop the collector.%0A     * @param direction Sets the collector to the direction as given above.%0A     */%0A    public void setCollectorDirection(byte direction)%7B%0A        leftStarDirection = direction;%0A        rightStarDirection = direction;%0A        rollerDirection = direction;%0A        update();%0A    %7D%0A    %0A    private Relay.Value getRelayDirection(byte direction)%7B%0A        if(direction == 0)%7B%0A            return Relay.Value.kOff;%0A        %7D%0A        if(direction %3E 0)%7B%0A            return Relay.Value.kForward;%0A        %7D%0A        return Relay.Value.kReverse;%0A    %7D%0A    %0A    public void update()%7B%0A        leftStar.set(getRelayDirection(leftStarDirection));%0A        rightStar.set(getRelayDirection(rightStarDirection));%0A        roller.set(getRelayDirection(rollerDirection));%0A    %7D%0A%7D%0A

Add the Collector subsystem to the project.