attempt

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

@@ -57,6 +57,16 @@ CommandPtr CommandPtr::AsProxy() && {
   return std::move(*this);
 }
 
+CommandPtr CommandPtr::Fork(CommandPtr&& other) && {
+  AssertValid();
+  std::vector<std::unique_ptr<Command>> vec;
+  vec.emplace_back(std::move(m_ptr));
+  vec.emplace_back(std::move(other).Unwrap());
+  std::span<std::unique_ptr<Command>> span(vec);
+  m_ptr = std::make_unique<ScheduleCommand>(std::move(span));
+  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 +63,21 @@ 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.
    *