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

Project import generated by Copybara.

GitOrigin-RevId: 715c8e8372d936f447f2937aab6b1a22dc619126

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

@@ -0,0 +1,31 @@
+# validated: 2024-01-19 DS aaea85ff1656 ScheduleCommand.java
+from __future__ import annotations
+
+from .command import Command
+
+
+class ScheduleCommand(Command):
+    """
+    Schedules the given commands when this command is initialized. Useful for forking off from
+    CommandGroups. Note that if run from a composition, the composition will not know about the
+    status of the scheduled commands, and will treat this command as finishing instantly.
+    """
+
+    def __init__(self, *commands: Command):
+        """
+        Creates a new ScheduleCommand that schedules the given commands when initialized.
+
+        :param toSchedule: the commands to schedule
+        """
+        super().__init__()
+        self._toSchedule = set(commands)
+
+    def initialize(self):
+        for command in self._toSchedule:
+            command.schedule()
+
+    def isFinished(self) -> bool:
+        return True
+
+    def runsWhenDisabled(self) -> bool:
+        return True