Added withDeadline modifier

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

@@ -287,6 +287,17 @@ 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.
+   *
+   * @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/java/edu/wpi/first/wpilibj2/command/Commands.java

@@ -242,7 +242,7 @@ public static Command repeatingSequence(Command... commands) {
    * @return the command
    * @see ParallelCommandGroup
    */
-  public static Command parallel(Command... commands) {
+  public static ParallelCommandGroup parallel(Command... commands) {
     return new ParallelCommandGroup(commands);
   }
 
@@ -254,7 +254,7 @@ public static Command parallel(Command... commands) {
    * @return the command group
    * @see ParallelRaceGroup
    */
-  public static Command race(Command... commands) {
+  public static ParallelRaceGroup race(Command... commands) {
     return new ParallelRaceGroup(commands);
   }
 
@@ -268,7 +268,7 @@ public static Command race(Command... commands) {
    * @see ParallelDeadlineGroup
    * @throws IllegalArgumentException if the deadline command is also in the otherCommands argument
    */
-  public static Command deadline(Command deadline, Command... otherCommands) {
+  public static ParallelDeadlineGroup deadline(Command deadline, Command... otherCommands) {
     return new ParallelDeadlineGroup(deadline, otherCommands);
   }
 

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 +168,11 @@ CommandPtr CommandPtr::OnlyIf(std::function<bool()> condition) && {
   return std::move(*this).Unless(std::not_fn(std::move(condition)));
 }
 
+CommandPtr CommandPtr::WithDeadline(CommandPtr&& deadline) && {
+  AssertValid();
+  return std::move(deadline).DeadlineFor(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