[commands] Add convenience factories (#4460)

Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>

wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp

@@ -105,6 +105,11 @@ CommandPtr Command::HandleInterrupt(std::function<void(void)> handler) && {
   return std::move(*this).ToPtr().HandleInterrupt(std::move(handler));
 }
 
+CommandPtr Command::WithName(std::string_view name) && {
+  SetName(name);
+  return std::move(*this).ToPtr();
+}
+
 void Command::Schedule() {
   CommandScheduler::GetInstance().Schedule(this);
 }
@@ -129,6 +134,8 @@ std::string Command::GetName() const {
   return GetTypeName(*this);
 }
 
+void Command::SetName(std::string_view name) {}
+
 bool Command::IsGrouped() const {
   return m_isGrouped;
 }

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp

@@ -219,6 +219,12 @@ CommandPtr CommandPtr::HandleInterrupt(std::function<void(void)> handler) && {
       });
 }
 
+CommandPtr CommandPtr::WithName(std::string_view name) && {
+  AssertValid();
+  m_ptr->SetName(name);
+  return std::move(*this);
+}
+
 CommandBase* CommandPtr::get() const {
   AssertValid();
   return m_ptr.get();

wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp

@@ -5,6 +5,7 @@
 #include "frc2/command/Subsystem.h"
 
 #include "frc2/command/CommandPtr.h"
+#include "frc2/command/Commands.h"
 
 using namespace frc2;
 Subsystem::~Subsystem() {
@@ -31,3 +32,21 @@ Command* Subsystem::GetCurrentCommand() const {
 void Subsystem::Register() {
   return CommandScheduler::GetInstance().RegisterSubsystem(this);
 }
+
+CommandPtr Subsystem::RunOnce(std::function<void()> action) {
+  return cmd::RunOnce(std::move(action), {this});
+}
+
+CommandPtr Subsystem::Run(std::function<void()> action) {
+  return cmd::Run(std::move(action), {this});
+}
+
+CommandPtr Subsystem::StartEnd(std::function<void()> start,
+                               std::function<void()> end) {
+  return cmd::StartEnd(std::move(start), std::move(end), {this});
+}
+
+CommandPtr Subsystem::RunEnd(std::function<void()> run,
+                             std::function<void()> end) {
+  return cmd::RunEnd(std::move(run), std::move(end), {this});
+}