Deprecate deadlineWith tand add deadlineFor instead

From wpilibsuite/allwpilib#6544

Author: spacey-sooty

Diff for: commands2/command.py

@@ -266,6 +266,34 @@ def deadlineWith(self, *parallel: Command) -> ParallelDeadlineGroup:
         command ends and interrupting all the others. Often more convenient/less-verbose than
         constructing a new ParallelDeadlineGroup explicitly.
 
+        .. 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 :func:`commands2.CommandScheduler.removeComposedCommand`.
+                  The command composition returned from this method can be further
+                  decorated without issue.
+
+        :param parallel: the commands to run in parallel
+        :returns: the decorated command
+        """
+        import warnings
+        warnings.warn(
+            "deadlineWith is deprecated use deadlineFor instead",
+            DeprecationWarning,
+            stacklevel=2,
+        )
+
+        from .paralleldeadlinegroup import ParallelDeadlineGroup
+
+        return ParallelDeadlineGroup(self, *parallel)
+
+    def deadlineFor(self, *parallel: Command) -> ParallelDeadlineGroup:
+        """
+        Decorates this command with a set of commands to run parallel to it, ending when the calling
+        command ends and interrupting all the others. Often more convenient/less-verbose than
+        constructing a new ParallelDeadlineGroup explicitly.
+
         .. 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,