Add IdleCommand to wpilibJ2 command framework

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

@@ -204,6 +204,18 @@ public static Command deadline(Command deadline, Command... commands) {
     return new ParallelDeadlineGroup(deadline, commands);
   }
 
+  /**
+   * Constructs a command that does nothing until interrupted
+   *
+   * @param requirements subsystems the action requires
+   * @return the command
+   * @see IdleCommand
+   */
+  public static Command idle(Subsystem... requirements) {
+    return new IdleCommand(requirements);
+  }
+
+
   private Commands() {
     throw new UnsupportedOperationException("This is a utility class");
   }

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

@@ -0,0 +1,22 @@
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.function.BooleanSupplier;
+
+/**
+ * A command that runs nothing. Has no end condition as-is; either subclass it or
+ * use {@link Command#withTimeout(double)} or {@link Command#until(BooleanSupplier)} to give it one.
+ * Used mainly for making a {@link Subsystem#setDefaultCommand(Command)} only run once
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
+public class IdleCommand extends RunCommand {
+    /**
+     * Creates a new IdleCommand. The IdleCommand will run until interrupted without doing any action.
+     * Useful for making a continuously scheduled command only run once.
+     *
+     * @param requirements the subsystems to require
+     */
+    public IdleCommand(Subsystem... requirements){
+        super(()-> {}, requirements);
+    }
+}