[oldCommands] Add wrappers for WPILib objects to work with old PID Controller (#3710)

wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h

@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#pragma once
+
+#include "frc/AnalogPotentiometer.h"
+#include "frc/PIDSource.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogPotentiometer for old
+ * PIDController
+ */
+class PIDAnalogPotentiometer : public PIDSource, public AnalogPotentiometer {
+  using AnalogPotentiometer::AnalogPotentiometer;
+
+ public:
+  /**
+   * Implement the PIDSource interface.
+   *
+   * @return The current reading.
+   */
+  double PIDGet() override;
+};
+
+}  // namespace frc