Add new C++ Command framework (#1785)

This is the C++ version of #1682.

The old command framework is still available, but will be deprecated.

Due to name conflicts, the new framework is in the frc2 namespace.
Eventually (after the old command framework is removed in a future year)
it will be moved into the main frc namespace.

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngle.h

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/CommandHelper.h>
+#include <frc2/command/PIDCommand.h>
+
+#include "subsystems/DriveSubsystem.h"
+
+/**
+ * A command that will turn the robot to the specified angle.
+ */
+class TurnToAngle : public frc2::CommandHelper<frc2::PIDCommand, TurnToAngle> {
+ public:
+  /**
+   * Turns to robot to the specified angle.
+   *
+   * @param targetAngleDegrees The angle to turn to
+   * @param drive              The drive subsystem to use
+   */
+  TurnToAngle(double targetAngleDegrees, DriveSubsystem* drive);
+
+  bool IsFinished() override;
+};