Add IdleCommand to wpilibJ2 command framework

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

@@ -25,6 +25,16 @@ public static Command none() {
     return new InstantCommand();
   }
 
+  /**
+   * Constructs a command that does nothing until interrupted.
+   *
+   * @param requirements subsystems the action requires
+   * @return the command
+   */
+  public static Command idle(Subsystem... requirements) {
+    return new RunCommand(() -> {}, requirements);
+  }
+
   // Action Commands
 
   /**

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

@@ -24,6 +24,10 @@ CommandPtr cmd::None() {
   return InstantCommand().ToPtr();
 }
 
+CommandPtr cmd::Idle(std::initializer_list<Subsystem*> requirements) {
+  return RunCommand([] {}, requirements).ToPtr();
+}
+
 CommandPtr cmd::RunOnce(std::function<void()> action,
                         std::initializer_list<Subsystem*> requirements) {
   return InstantCommand(std::move(action), requirements).ToPtr();

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

@@ -31,6 +31,14 @@ namespace cmd {
 [[nodiscard]]
 CommandPtr None();
 
+  /**
+   * Constructs a command that does nothing until interrupted.
+   *
+   * @param requirements subsystems the action requires
+   * @return the command
+   */
+CommandPtr Idle(std::span<Subsystem* const> requirements = {});
+
 // Action Commands
 
 /**