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

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

@@ -0,0 +1,27 @@
+// 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/PIDSource.h"
+#include "frc/Ultrasonic.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for Ultrasonic for old PIDController
+ */
+class PIDUltrasonic : public PIDSource, public Ultrasonic {
+  using Ultrasonic::Ultrasonic;
+
+ public:
+  /**
+   * Get the range for the PIDSource base object.
+   *
+   * @return The range
+   */
+  double PIDGet() override;
+};
+
+}  // namespace frc