Added withDeadline modifier

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

@@ -287,6 +287,23 @@ public SequentialCommandGroup andThen(Command... next) {
     return group;
   }
 
+  /**
+   * Creates a new command that runs this command and the deadline in parallel, finishing when the
+   * deadline finishes.
+   *
+   * <p>Note: This decorator works by adding this command to a composition. The command the
+   * decorator was called on cannot be scheduled independently or be added to a different
+   * composition (namely, decorators), unless it is manually cleared from the list of composed
+   * commands with {@link CommandScheduler#removeComposedCommand(Command)}. The command composition
+   * returned from this method can be further decorated without issue.
+   *
+   * @param deadline the deadline of the command group
+   * @return the decorated command
+   */
+  public ParallelDeadlineGroup withDeadline(Command deadline) {
+    return new ParallelDeadlineGroup(deadline, this);
+  }
+
   /**
    * Decorates this command with a set of commands to run parallel to it, ending when the calling
    * command ends and interrupting all the others. Often more convenient/less-verbose than

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

@@ -121,6 +121,10 @@ CommandPtr Command::OnlyIf(std::function<bool()> condition) && {
   return std::move(*this).ToPtr().OnlyIf(std::move(condition));
 }
 
+CommandPtr Command::WithDeadline(CommandPtr&& deadline) && {
+  return std::move(*this).ToPtr().WithDeadline(std::move(deadline));
+}
+
 CommandPtr Command::DeadlineFor(CommandPtr&& parallel) && {
   return std::move(*this).ToPtr().DeadlineFor(std::move(parallel));
 }

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

@@ -168,6 +168,15 @@ CommandPtr CommandPtr::OnlyIf(std::function<bool()> condition) && {
   return std::move(*this).Unless(std::not_fn(std::move(condition)));
 }
 
+CommandPtr CommandPtr::WithDeadline(CommandPtr&& deadline) && {
+  AssertValid();
+  std::vector<std::unique_ptr<Command>> vec;
+  vec.emplace_back(std::move(m_ptr));
+  m_ptr = std::make_unique<ParallelDeadlineGroup>(std::move(deadline).Unwrap(),
+                                                  std::move(vec));
+  return std::move(*this);
+}
+
 CommandPtr CommandPtr::DeadlineWith(CommandPtr&& parallel) && {
   AssertValid();
   std::vector<std::unique_ptr<Command>> vec;

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

@@ -309,6 +309,16 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
   [[nodiscard]]
   CommandPtr OnlyIf(std::function<bool()> condition) &&;
 
+  /**
+   * Creates a new command that runs this command
+   * and the deadline in parallel, finishing when
+   * the deadline finishes.
+   *
+   * @param deadline the deadline of the command group
+   * @return the decorated command
+   */
+  CommandPtr WithDeadline(CommandPtr&& deadline) &&;
+
   /**
    * Decorates this command with a set of commands to run parallel to it, ending
    * when the calling command ends and interrupting all the others. Often more
@@ -321,6 +331,7 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
    */
   [[nodiscard]]
   CommandPtr DeadlineFor(CommandPtr&& parallel) &&;
+
   /**
    * Decorates this command with a set of commands to run parallel to it, ending
    * when the last command ends. Often more convenient/less-verbose than

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

@@ -182,6 +182,16 @@ class CommandPtr final {
   [[nodiscard]]
   CommandPtr OnlyIf(std::function<bool()> condition) &&;
 
+  /**
+   * Creates a new command that runs this command
+   * and the deadline in parallel, finishing when
+   * the deadline finishes.
+   *
+   * @param deadline the deadline of the command group
+   * @return the decorated command
+   */
+  CommandPtr WithDeadline(CommandPtr&& deadline) &&;
+
   /**
    * Decorates this command with a set of commands to run parallel to it, ending
    * when the calling command ends and interrupting all the others. Often more