some review stuff

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

@@ -4,8 +4,11 @@
 
 package edu.wpi.first.wpilibj2.command;
 
+import static edu.wpi.first.units.Units.Second;
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.Time;
 import edu.wpi.first.util.function.BooleanConsumer;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
@@ -149,6 +152,23 @@ public ParallelRaceGroup withTimeout(double seconds) {
     return raceWith(new WaitCommand(seconds));
   }
 
+  /**
+   * Decorates this command with a timeout. If the specified timeout is exceeded before the command
+   * finishes normally, the command will be interrupted and un-scheduled.
+   *
+   * <p>Note: This decorator works by adding this command to a composition. The command the
+   * decorator was called on cannot be scheduled independently or be added to a different
+   * composition (namely, decorators), unless it is manually cleared from the list of composed
+   * commands with {@link CommandScheduler#removeComposedCommand(Command)}. The command composition
+   * returned from this method can be further decorated without issue.
+   *
+   * @param time the timeout duration
+   * @return the command with the timeout added
+   */
+  public ParallelRaceGroup withTimeout(Measure<Time> time) {
+    return raceWith(new WaitCommand(time.in(Second)));
+  }
+
   /**
    * Decorates this command with an interrupt condition. If the specified condition becomes true
    * before the command finishes normally, the command will be interrupted and un-scheduled.

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

@@ -125,7 +125,7 @@ public static Command waitSeconds(double seconds) {
    * @return the command
    * @see WaitCommand
    */
-  public static Command waitTime(Measure<Time> time) {
+  public static Command wait(Measure<Time> time) {
     return new WaitCommand(time.in(Second));
   }