[commands] Add GetName to Subsystem, use in Scheduler tracer epochs (#5836)

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java

@@ -261,7 +261,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
       if (RobotBase.isSimulation()) {
         subsystem.simulationPeriodic();
       }
-      m_watchdog.addEpoch(subsystem.getClass().getSimpleName() + ".periodic()");
+      m_watchdog.addEpoch(subsystem.getName() + ".periodic()");
     }
 
     // Cache the active instance to avoid concurrency problems if setActiveLoop() is called from

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java

@@ -40,6 +40,15 @@ public interface Subsystem {
    */
   default void simulationPeriodic() {}
 
+  /**
+   * Gets the subsystem name of this Subsystem.
+   *
+   * @return Subsystem name
+   */
+  default String getName() {
+    return this.getClass().getSimpleName();
+  }
+
   /**
    * Sets the default {@link Command} of the subsystem. The default command will be automatically
    * scheduled when no other commands are scheduled that require the subsystem. Default commands

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java

@@ -28,6 +28,7 @@ public abstract class SubsystemBase implements Subsystem, Sendable {
    *
    * @return Name
    */
+  @Override
   public String getName() {
     return SendableRegistry.getName(this);
   }