One issue immediately jumps out to me. You're declaring your Victors, Relay and Joystick as objects in the header file, but initializing them in the constructor as if they were pointers. You need to either declare them as pointers (e.g. Victor* leftDrive) or fix your constructor to have an initialization list:
Code:
IterativeDefaultRobot::IterativeDefaultRobot(void) :
leftDrive(1), rightDrive(2), driveStick(1), testspike(1)
{
...
}
If you're having problems apart from that, it would be great if you could post the relevant compiler output.