Replace SFINAE with concepts (#5361)

Concepts are cleaner to use and result in much better error messages for incorrect template use.

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

@@ -5,9 +5,10 @@
 #pragma once
 
 #include <memory>
-#include <type_traits>
 #include <utility>
 
+#include <wpi/concepts.h>
+
 #include "frc2/command/Command.h"
 #include "frc2/command/CommandPtr.h"
 
@@ -21,8 +22,7 @@ namespace frc2 {
  *
  * This class is provided by the NewCommands VendorDep
  */
-template <typename Base, typename CRTP,
-          typename = std::enable_if_t<std::is_base_of_v<Command, Base>>>
+template <std::derived_from<Command> Base, typename CRTP>
 class CommandHelper : public Base {
   using Base::Base;