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

Project import generated by Copybara.

GitOrigin-RevId: 715c8e8372d936f447f2937aab6b1a22dc619126

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

@@ -0,0 +1,41 @@
+# validated: 2024-01-20 DS f29a7d2e501b WaitCommand.java
+from __future__ import annotations
+
+from wpilib import Timer
+from wpimath import units
+from wpiutil import SendableBuilder
+
+from .command import Command
+
+
+class WaitCommand(Command):
+    """
+    A command that does nothing but takes a specified amount of time to finish.
+    """
+
+    def __init__(self, seconds: units.seconds):
+        """
+        Creates a new WaitCommand. This command will do nothing, and end after the specified duration.
+
+        :param seconds: the time to wait, in seconds
+        """
+        super().__init__()
+        self._duration = seconds
+        self._timer = Timer()
+        self.setName(f"{self.getName()}: {seconds}")
+
+    def initialize(self):
+        self._timer.restart()
+
+    def end(self, interrupted: bool):
+        self._timer.stop()
+
+    def isFinished(self) -> bool:
+        return self._timer.hasElapsed(self._duration)
+
+    def runsWhenDisabled(self) -> bool:
+        return True
+
+    def initSendable(self, builder: SendableBuilder) -> None:
+        super().initSendable(builder)
+        builder.addDoubleProperty("duration", lambda: self._duration, lambda _: None)