[cmd] Add Scheduled command decorator

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

@@ -398,6 +398,28 @@ public ProxyCommand asProxy() {
     return new ProxyCommand(this);
   }
 
+  /**
+   * Decorates this command to run "forked" by wrapping it in a {@link ScheduleCommand}. Use this
+   * for "forking off" from command compositions when the user does not wish to extend the command's
+   * requirements to the entire command composition. Note that if run from a composition, the
+   * composition will not know about the status of the scheduled commands, and will treat this
+   * command as finishing instantly. Commands can be added to this and will be scheduled in order
+   * with this command scheduled first.
+   *
+   * @param other other commands to schedule along with this one. This command is scheduled first.
+   * @return the decorated command
+   * @see ScheduleCommand
+   * @see <a
+   *     href="https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html#scheduling-other-commands">WPILib
+   *     docs</a>
+   */
+  public ScheduleCommand fork(Command... other) {
+    Command[] commands = new Command[1 + other.length];
+    commands[0] = this;
+    System.arraycopy(other, 0, commands, 1, other.length);
+    return new ScheduleCommand(commands);
+  }
+
   /**
    * Decorates this command to only run if this condition is not met. If the command is already
    * running and the condition changes to true, the command will not stop running. The requirements

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp

@@ -18,6 +18,7 @@
 #include "frc2/command/ParallelRaceGroup.h"
 #include "frc2/command/ProxyCommand.h"
 #include "frc2/command/RepeatCommand.h"
+#include "frc2/command/ScheduleCommand.h"
 #include "frc2/command/SequentialCommandGroup.h"
 #include "frc2/command/WaitCommand.h"
 #include "frc2/command/WaitUntilCommand.h"
@@ -56,6 +57,13 @@ CommandPtr CommandPtr::AsProxy() && {
   return std::move(*this);
 }
 
+CommandPtr CommandPtr::Fork(CommandPtr&& other) && {
+  AssertValid();
+  std::vector<Command*> vec{m_ptr.get(), other.get()};
+  m_ptr = make_unique<ScheduleCommand>(std::span<Command*>(vec));
+  return std::move(*this);
+}
+
 class RunsWhenDisabledCommand : public WrapperCommand {
  public:
   RunsWhenDisabledCommand(std::unique_ptr<Command>&& command,

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

@@ -63,6 +63,23 @@ class CommandPtr final {
   [[nodiscard]]
   CommandPtr AsProxy() &&;
 
+  /**
+   * Decorates this command to run "forked" by wrapping it in a {@link
+   * ScheduleCommand}. Use this for "forking off" from command compositions when
+   * the user does not wish to extend the command's requirements to the entire
+   * command composition. Note that if run from a composition, the composition
+   * will not know about the status of the scheduled commands, and will treat
+   * this command as finishing instantly. Commands can be added to this and will
+   * be scheduled in order with this command scheduled first.
+   *
+   * @param other other commands to schedule along with this one. This command
+   * is scheduled first.
+   * @return the decorated command
+   * @see ScheduleCommand
+   */
+  [[nodiscard]]
+  CommandPtr Fork(CommandPtr&& other) &&;
+
   /**
    * Decorates this command to run or stop when disabled.
    *