[robotpy] Mirror robotpy's commands-v2 (#8369)

Project import generated by Copybara.

GitOrigin-RevId: 715c8e8372d936f447f2937aab6b1a22dc619126

commandsv2/src/main/python/commands2/runcommand.py

@@ -0,0 +1,28 @@
+# validated: 2024-01-19 DS 5cf961edb973 RunCommand.java
+from __future__ import annotations
+
+from typing import Any, Callable
+
+from .functionalcommand import FunctionalCommand
+from .subsystem import Subsystem
+
+
+class RunCommand(FunctionalCommand):
+    """
+    A command that runs a Callable continuously. Has no end condition as-is; either subclass it or
+    use :func:`commands2.Command.withTimeout` or :func:`commands2.Command.until` to give it one.
+    If you only wish to execute a Callable once, use :class:`commands2.InstantCommand`.
+    """
+
+    def __init__(self, toRun: Callable[[], Any], *requirements: Subsystem):
+        """
+        Creates a new RunCommand. The Callable will be run continuously until the command ends. Does
+        not run when disabled.
+
+        :param toRun: the Callable to run
+        :param requirements: the subsystems to require
+        """
+        assert callable(toRun)
+        super().__init__(
+            lambda: None, toRun, lambda interrupted: None, lambda: False, *requirements
+        )