The present system of platoon commands is not very effective. You do not need to invent something new. Just look how the developers of Blood of Steel (BOS) have solved this issue. They have four commands:
F1 = Follow me
F2 = Take position (whereby a target area can be marked)
F3 = Attack (whereby a target area can be marked)
F4 = Retreat
You avoid having your soldiers running stupidly into the enemy, taking position looking at the rear, or just crawling around aimlessly. You can refine the BOS system with add ons.