From 138ded2c33df94e38753776c65e5c1083089328c Mon Sep 17 00:00:00 2001
From: Tim Winters <tim.winters@bevi.co>
Date: Wed, 1 May 2024 10:00:12 -0400
Subject: [PATCH] Add startRun command factory

---
 commands2/cmd.py       | 14 ++++++++++++++
 commands2/subsystem.py | 12 ++++++++++++
 2 files changed, 26 insertions(+)

diff --git a/commands2/cmd.py b/commands2/cmd.py
index 7e9f535a..40f0d76e 100644
--- a/commands2/cmd.py
+++ b/commands2/cmd.py
@@ -94,6 +94,20 @@ def runEnd(
         lambda: None, run, lambda interrupted: end(), lambda: False, *requirements
     )
 
+def startRun(
+    start: Callable[[], Any], run: Callable[[], Any], *requirements: Subsystem
+) -> Command:
+    """
+    Constructs a command that runs an action once and another action every iteration until interrupted.
+
+    :param start: the action to run on start
+    :param run: the action to run every iteration
+    :param requirements: subsystems the action requires
+    :returns: the command
+    """
+    return FunctionalCommand(
+        start, run, lambda interrupt: None, lambda: False, *requirements
+    )
 
 def print_(message: str) -> Command:
     """
diff --git a/commands2/subsystem.py b/commands2/subsystem.py
index 3cb2792b..1abdf23b 100644
--- a/commands2/subsystem.py
+++ b/commands2/subsystem.py
@@ -156,6 +156,18 @@ def runEnd(self, run: Callable[[], None], end: Callable[[], None]) -> Command:
 
         return runEnd(run, end, self)
 
+    def startRun(self, start: Callable[[], None], run: Callable[[], None]) -> Command:
+        """
+        Constructs a command that runs an action once and another action every iteration until interrupted. Requires this subsystem.
+
+        :param start: the action to run on start
+        :param run: the action to run every iteration
+        :returns: the command
+        """
+        from .cmd import startRun
+
+        return startRun(start, run, self)
+
     #
     # From SubsystemBase
     #