@@ -0,0 +1,1216 @@
+package com.edinarobotics.zephyr.autonomous;%0A%0Aimport com.edinarobotics.utils.autonomous.AutonomousStep;%0Aimport com.edinarobotics.zephyr.Zephyr;%0A%0A/**%0A * An autonomous step that turns the collector's collecting motor on and off.%0A */%0Apublic class SetCollectorStep extends AutonomousStep%7B%0A    private boolean collectorOn;%0A    private Zephyr robot;%0A    %0A    /**%0A     * Constructs a SetCollectorStep that will set the collector's motor%0A     * to the given state.%0A     * @param collectorOn whether or not the collector motor should be running.%0A     * %7B@code true%7D starts the motor, %7B@code false%7D stops it.%0A     * @param robot the %7B@link Zephyr%7D object to use to set the collector's%0A     * state.%0A     */%0A    public SetCollectorStep(boolean collectorOn, Zephyr robot)%7B%0A        this.collectorOn = collectorOn;%0A        this.robot = robot;%0A    %7D%0A    %0A    /**%0A     * Sets the collector's motor to the given state, %7B@code collectorOn%7D.%0A     */%0A    public void start()%7B%0A        robot.collectorSpin = collectorOn;%0A        robot.mechanismSet();%0A    %7D%0A    %0A    /**%0A     * Always returns %7B@code true%7D. This step is always finished.%0A     * @return %7B@code true%7D%0A     */%0A    public boolean isFinished()%7B%0A        return true;%0A    %7D    %0A%7D%0A

Add SetCollectorStep to turn the collector on and off in autonomous.