[commands] Add StartRun command factory (#6572)

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

@@ -86,6 +86,18 @@ CommandPtr StartEnd(std::function<void()> start, std::function<void()> end,
 CommandPtr RunEnd(std::function<void()> run, std::function<void()> end,
                   Requirements requirements = {});
 
+/**
+ * Constructs a command that runs an action once, and then runs an action every
+ * iteration until interrupted.
+ *
+ * @param start the action to run on start
+ * @param run the action to run every iteration
+ * @param requirements subsystems the action requires
+ */
+[[nodiscard]]
+CommandPtr StartRun(std::function<void()> start, std::function<void()> run,
+                    Requirements requirements = {});
+
 /**
  * Constructs a command that prints a message and finishes.
  *

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

@@ -159,6 +159,16 @@ class Subsystem {
   [[nodiscard]]
   CommandPtr RunEnd(std::function<void()> run, std::function<void()> end);
 
+  /**
+   * Constructs a command that runs an action once, and then runs an action
+   * every iteration until interrupted. Requires this subsystem.
+   *
+   * @param start the action to run on start
+   * @param run the action to run every iteration
+   */
+  [[nodiscard]]
+  CommandPtr StartRun(std::function<void()> start, std::function<void()> run);
+
   /**
    * Constructs a DeferredCommand with the provided supplier. This subsystem is
    * added as a requirement.