[commands] Rename deadlineWith to deadlineFor (#6544)

Deprecate deadlineWith for backwards compatibility.

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

@@ -287,11 +287,32 @@ public abstract class Command implements Sendable {
    *
    * @param parallel the commands to run in parallel
    * @return the decorated command
+   * @deprecated Use {@link deadlineFor} instead.
    */
+  @Deprecated(since = "2025", forRemoval = true)
   public ParallelDeadlineGroup deadlineWith(Command... parallel) {
     return new ParallelDeadlineGroup(this, parallel);
   }
 
+  /**
+   * Decorates this command with a set of commands to run parallel to it, ending when the calling
+   * command ends and interrupting all the others. Often more convenient/less-verbose than
+   * constructing a new {@link ParallelDeadlineGroup} explicitly.
+   *
+   * <p>Note: This decorator works by adding this command to a composition. The command the
+   * decorator was called on cannot be scheduled independently or be added to a different
+   * composition (namely, decorators), unless it is manually cleared from the list of composed
+   * commands with {@link CommandScheduler#removeComposedCommand(Command)}. The command composition
+   * returned from this method can be further decorated without issue.
+   *
+   * @param parallel the commands to run in parallel. Note the parallel commands will be interupted
+   *     when the deadline command ends
+   * @return the decorated command
+   */
+  public ParallelDeadlineGroup deadlineFor(Command... parallel) {
+    return new ParallelDeadlineGroup(this, parallel);
+  }
+
   /**
    * Decorates this command with a set of commands to run parallel to it, ending when the last
    * command ends. Often more convenient/less-verbose than constructing a new {@link

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

@@ -174,6 +174,15 @@ CommandPtr CommandPtr::DeadlineWith(CommandPtr&& parallel) && {
   return std::move(*this);
 }
 
+CommandPtr CommandPtr::DeadlineFor(CommandPtr&& parallel) && {
+  AssertValid();
+  std::vector<std::unique_ptr<Command>> vec;
+  vec.emplace_back(std::move(parallel).Unwrap());
+  m_ptr =
+      std::make_unique<ParallelDeadlineGroup>(std::move(m_ptr), std::move(vec));
+  return std::move(*this);
+}
+
 CommandPtr CommandPtr::AlongWith(CommandPtr&& parallel) && {
   AssertValid();
   std::vector<std::unique_ptr<Command>> vec;

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

@@ -191,9 +191,21 @@ class CommandPtr final {
    * @param parallel the commands to run in parallel
    * @return the decorated command
    */
-  [[nodiscard]]
+  [[nodiscard]] [[deprecated("Replace with DeadlineFor")]]
   CommandPtr DeadlineWith(CommandPtr&& parallel) &&;
 
+  /**
+   * Decorates this command with a set of commands to run parallel to it, ending
+   * when the calling command ends and interrupting all the others. Often more
+   * convenient/less-verbose than constructing a new {@link
+   * ParallelDeadlineGroup} explicitly.
+   *
+   * @param parallel the commands to run in parallel. Note the parallel commands
+   * will be interupted when the deadline command ends
+   * @return the decorated command
+   */
+  [[nodiscard]]
+  CommandPtr DeadlineFor(CommandPtr&& parallel) &&;
   /**
    * Decorates this command with a set of commands to run parallel to it, ending
    * when the last command ends. Often more convenient/less-verbose than

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java

@@ -148,7 +148,7 @@ class CommandDecoratorTest extends CommandTestBase {
       Command endsBefore = new InstantCommand();
       Command endsAfter = new WaitUntilCommand(() -> false);
 
-      Command group = dictator.deadlineWith(endsBefore, endsAfter);
+      Command group = dictator.deadlineFor(endsBefore, endsAfter);
 
       scheduler.schedule(group);
       scheduler.run();