Update cmd.py

Author: Spaceman113138

commands2/cmd.py

@@ -110,6 +110,21 @@ def startRun(
         start, run, lambda interrupt: None, lambda: False, *requirements
     )
 
+def startRunEnd(
+    start: Callable[[], Any], run: Callable[[], Any], end: Callable[[], Any], 
+*requirements: Subsystem) -> Command:
+    """
+    Constructs a command that runs an action once, and then runs an action every iteration until interrupted, 
+    and then runs a third action.
+   
+    :param start the action to run on start
+    :param run the action to run every iteration
+    :param end the action to run on interrupt
+    :returns: the command
+    """
+    return FunctionalCommand(
+        start, run, lambda interrupted: end(), lambda: False, *requirements
+    )
 
 def print_(message: str) -> Command:
     """