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

wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h

@@ -6,6 +6,7 @@
 
 #include <concepts>
 #include <functional>
+#include <string>
 #include <utility>
 
 #include <wpi/FunctionExtras.h>
@@ -59,6 +60,13 @@ class Subsystem {
    */
   virtual void SimulationPeriodic();
 
+  /**
+   * Gets the name of this Subsystem.
+   *
+   * @return Name
+   */
+  virtual std::string GetName() const;
+
   /**
    * Sets the default Command of the subsystem.  The default command will be
    * automatically scheduled when no other commands are scheduled that require