I know that for using a PS3/4 Controller on Windows, you need to use some special software from either
Motioninjoy or
ScpToolkit in order for the gamepad to be recognized by your computer. This is because the PS4 gamepads do not send their control outputs over a universally-recognizable format, like that of the
Logitech F310 or
Rock Candy Xbox 360 controller. These controllers use a control format called Xinput (some DirectInput as well) which is easily recognized by PC, and likely, your HERO board. I would recommend picking up a Logitech F310 at GameStop or Walmart, they are super cheap and work great.
EDIT: After reading through
CTRE's User Guide for the HERO, it is recommended to use an F310 in DirectInput mode to control your robot as this sends generic HID commands to your computer/HERO. As I assumed, the Rock Candy gamepad or any PS3/4 controllers use special drivers and inputs to send their control inputs to the computer, so they presumably wouldn't work with your HERO.