I don't have the original PCLinuxOS cd handy, just my remaster witch is configured to print.
So, I can't remember for sure but I don't see why it wouldn't be able to setup printing.
Go to the bird on the lower left side of screen,
up to Configuration / PCLinuxOS Control Center/Hardware/Configure printers, ....
It may need an internet connection to download drivers but it should detect your hp ok.