[commands] Use factories and decorators in Command tests (#7006)

wpilibNewCommands/src/test/native/cpp/frc2/command/RunCommandTest.cpp

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <frc2/command/Commands.h>
+
 #include "CommandTestBase.h"
 #include "frc2/command/RunCommand.h"
 
@@ -13,9 +15,9 @@ TEST_F(RunCommandTest, RunCommandSchedule) {
 
   int counter = 0;
 
-  RunCommand command([&counter] { counter++; }, {});
+  auto command = cmd::Run([&counter] { counter++; });
 
-  scheduler.Schedule(&command);
+  scheduler.Schedule(command);
   scheduler.Run();
   scheduler.Run();
   scheduler.Run();