Split the two command implementations into separate libraries (#2012)

This will allow us at the user code side to determine to include old commands, new commands or both.

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

@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <frc/trajectory/TrapezoidProfile.h>
+#include <frc2/Timer.h>
+
+#include <functional>
+
+#include "CommandBase.h"
+#include "CommandHelper.h"
+
+#pragma once
+
+namespace frc2 {
+/**
+ * A command that runs a TrapezoidProfile.  Useful for smoothly controlling
+ * mechanism motion.
+ *
+ * @see TrapezoidProfile
+ */
+class TrapezoidProfileCommand
+    : public CommandHelper<CommandBase, TrapezoidProfileCommand> {
+ public:
+  /**
+   * Creates a new TrapezoidProfileCommand that will execute the given
+   * TrapezoidalProfile. Output will be piped to the provided consumer function.
+   *
+   * @param profile The motion profile to execute.
+   * @param output  The consumer for the profile output.
+   */
+  TrapezoidProfileCommand(
+      frc::TrapezoidProfile profile,
+      std::function<void(frc::TrapezoidProfile::State)> output,
+      std::initializer_list<Subsystem*> requirements);
+
+  void Initialize() override;
+
+  void Execute() override;
+
+  void End(bool interrupted) override;
+
+  bool IsFinished() override;
+
+ private:
+  frc::TrapezoidProfile m_profile;
+  std::function<void(frc::TrapezoidProfile::State)> m_output;
+
+  Timer m_timer;
+};
+
+}  // namespace frc2