Refactor Command Composition

[SomewhatMay]

Currently, command composition, through commands like SequentialCommandGroup, do not follow the same rules as WPILib's command composition. We should refactor the command composition to follow those rules. Namely, we must ensure that:

1. Command compositions require all subsystems their components require
2. May run when disabled if all their component set runsWhenDisabled as true (currently not applicable)
3. Are kCancelIncoming if all their components are kCancelIncoming as well (currently unimplemented, see Introduce Command Interruption Behaviour #52)

[SomewhatMay]

This is a great idea, but the only issue is that we would need to refactor many things. Currently, each command group schedules contained commands as they are needed. If the command group required all the same subsystems as the contained commands, there would be a requirements clash, and therefore, it would cause issues. Maybe we should follow WPILib's method and not schedule contained commands, but rather, call the execute loop within the commands themselves.

I'm not the biggest fan of this change as it would mean that we would have to write the scheduler all over again within each command (think of the FunctionalCommand).