[commands] Add static Trigger factories for robot mode changes (#5902)

wpilibNewCommands/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp

@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc2/command/button/RobotModeTriggers.h"
+
+#include <frc/DriverStation.h>
+
+using namespace frc2;
+
+Trigger RobotModeTriggers::Autonomous() {
+  return Trigger{&frc::DriverStation::IsAutonomousEnabled};
+}
+
+Trigger RobotModeTriggers::Teleop() {
+  return Trigger{&frc::DriverStation::IsTeleopEnabled};
+}
+
+Trigger RobotModeTriggers::Disabled() {
+  return Trigger{&frc::DriverStation::IsDisabled};
+}
+
+Trigger RobotModeTriggers::Test() {
+  return Trigger{&frc::DriverStation::IsTestEnabled};
+}