recommended changes

commands2/cmd.py

@@ -165,6 +165,23 @@ def select(
     """
     return SelectCommand(commands, selector)
 
+def fork(
+      *commands: Command  
+) -> Command:
+    """
+    Create a command to run "forked" by wrapping the provided commands in a 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.  Multiple commmands can be added to this and will be schedule in order., 
+    see the `WPILib docs <https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html#scheduling-other-commands>`_ for a full explanation.
+
+    :param commands: commands to schedule in order
+    :returns: the command
+    """
+    from .schedulecommand import ScheduleCommand
+    return ScheduleCommand(commands)
+
 
 def sequence(*commands: Command) -> Command:
     """

commands2/command.py

@@ -18,6 +18,7 @@
     from .parallelcommandgroup import ParallelCommandGroup
     from .repeatcommand import RepeatCommand
     from .proxycommand import ProxyCommand
+    from .schedulecommand import ScheduleCommand
     from .conditionalcommand import ConditionalCommand
     from .wrappercommand import WrapperCommand
 
@@ -384,21 +385,20 @@ def asProxy(self) -> ProxyCommand:
 
         return ProxyCommand(self)
 
-    def fork(self, *commands: Command) -> ProxyCommand:
+    def fork(self, *commands: Command) -> ScheduleCommand:
         """
         Decorates this command to run "forked" by wrapping it in a 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., see the `WPILib docs <https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html#scheduling-other-commands>`_ for a full explanation.
+        command as finishing instantly., see the `WPILib docs <https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html#scheduling-other-commands>`_ for a full explanation.
 
         :param other: other commands to schedule along with this one. This command is scheduled first.
         :returns: the decorated command
         """
         from .schedulecommand import ScheduleCommand
 
-        return ScheduleCommand(self, [self] + commands)
+        return ScheduleCommand(self)
 
     def unless(self, condition: Callable[[], bool]) -> ConditionalCommand:
         """