[xrp] Copy XRPReference docs from Java to C++ (NFC) (#7388)

wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.h

@@ -13,6 +13,14 @@
 
 class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
  public:
+  /**
+   * Creates a new TurnDegrees. This command will turn your robot for a desired
+   * rotation (in degrees) and rotational speed.
+   *
+   * @param speed The speed which the robot will drive. Negative is in reverse.
+   * @param angle Degrees to turn. Leverages encoders to compare distance.
+   * @param drive The drive subsystem on which this command will run
+   */
   TurnDegrees(double speed, units::degree_t angle, Drivetrain* drive)
       : m_speed(speed), m_angle(angle), m_drive(drive) {
     AddRequirements(m_drive);