Add compose/schedule lock testing to composition tests

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SingleCompositionTestBase.java

@@ -5,7 +5,9 @@
 package edu.wpi.first.wpilibj2.command;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertThrows;
 
+import org.junit.jupiter.api.Test;
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.EnumSource;
 import org.junit.jupiter.params.provider.ValueSource;
@@ -29,4 +31,33 @@ void runWhenDisabled(boolean runsWhenDisabled) {
         composeSingle(new WaitUntilCommand(() -> false).ignoringDisable(runsWhenDisabled));
     assertEquals(runsWhenDisabled, command.runsWhenDisabled());
   }
+
+  @Test
+  void commandInOtherCompositionTest() {
+    var command = new InstantCommand();
+    var composition = new WrapperCommand(command) {};
+    assertThrows(IllegalArgumentException.class, () -> composeSingle(command));
+  }
+
+  @Test
+  void commandInMultipleCompositionsTest() {
+    var command = new InstantCommand();
+    var composition = composeSingle(command);
+    assertThrows(IllegalArgumentException.class, () -> composeSingle(command));
+  }
+
+  @Test
+  void composeThenScheduleTest() {
+    var command = new InstantCommand();
+    var composition = composeSingle(command);
+    assertThrows(
+        IllegalArgumentException.class, () -> CommandScheduler.getInstance().schedule(command));
+  }
+
+  @Test
+  void scheduleThenComposeTest() {
+    var command = new RunCommand(() -> {});
+    CommandScheduler.getInstance().schedule(command);
+    assertThrows(IllegalArgumentException.class, () -> composeSingle(command));
+  }
 }