diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
index 1b46affa21..653aad3ce5 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
@@ -12,16 +12,13 @@
 
 void RapidReactCommandBot::ConfigureBindings() {
   // Automatically run the storage motor whenever the ball storage is not full,
-  // and turn it off whenever it fills.
-  frc2::Trigger([this] {
-    return m_storage.IsFull();
-  }).WhileFalse(m_storage.RunCommand());
+  // and turn it off whenever it fills. Uses subsystem-hosted trigger to
+  // improve readability and make inter-subsystem communication easier.
+  m_storage.HasCargo.WhileFalse(m_storage.RunCommand());
 
   // Automatically disable and retract the intake whenever the ball storage is
   // full.
-  frc2::Trigger([this] {
-    return m_storage.IsFull();
-  }).OnTrue(m_intake.RetractCommand());
+  m_storage.HasCargo.OnTrue(m_intake.RetractCommand());
 
   // Control the drive with split-stick arcade controls
   m_drive.SetDefaultCommand(m_drive.ArcadeDriveCommand(
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
index 3e9dc6203b..59c2a02351 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
@@ -12,7 +12,3 @@ Storage::Storage() {
 frc2::CommandPtr Storage::RunCommand() {
   return Run([this] { m_motor.Set(1.0); }).WithName("Run");
 }
-
-bool Storage::IsFull() const {
-  return m_ballSensor.Get();
-}
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h
index 58694b3035..ec99118d60 100644
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h
@@ -8,6 +8,7 @@
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/CommandPtr.h>
 #include <frc2/command/SubsystemBase.h>
+#include <frc2/command/button/Trigger.h>
 
 #include "Constants.h"
 
@@ -19,7 +20,7 @@ class Storage : frc2::SubsystemBase {
   frc2::CommandPtr RunCommand();
 
   /** Whether the ball storage is full. */
-  bool IsFull() const;
+  frc2::Trigger HasCargo{[this] { return m_ballSensor.Get(); }};
 
  private:
   frc::PWMSparkMax m_motor{StorageConstants::kMotorPort};
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
index 12d7f662c6..88b1913aa0 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
@@ -46,11 +46,12 @@ public class RapidReactCommandBot {
    */
   public void configureBindings() {
     // Automatically run the storage motor whenever the ball storage is not full,
-    // and turn it off whenever it fills.
-    new Trigger(m_storage::isFull).whileFalse(m_storage.runCommand());
+    // and turn it off whenever it fills. Uses subsystem-hosted trigger to
+    // improve readability and make inter-subsystem communication easier.
+    m_storage.hasCargo.whileFalse(m_storage.runCommand());
 
     // Automatically disable and retract the intake whenever the ball storage is full.
-    new Trigger(m_storage::isFull).onTrue(m_intake.retractCommand());
+    m_storage.hasCargo.onTrue(m_intake.retractCommand());
 
     // Control the drive with split-stick arcade controls
     m_drive.setDefaultCommand(
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Storage.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Storage.java
index dac61a43fc..f3812b1d89 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Storage.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Storage.java
@@ -4,28 +4,29 @@
 
 package edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems;
 
-import static edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.StorageConstants;
-
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.StorageConstants;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 public class Storage extends SubsystemBase {
   private final PWMSparkMax m_motor = new PWMSparkMax(StorageConstants.kMotorPort);
   private final DigitalInput m_ballSensor = new DigitalInput(StorageConstants.kBallSensorPort);
 
+  // Expose trigger from subsystem to improve readability and ease
+  // inter-subsystem communications
+  /** Whether the ball storage is full. */
+  @SuppressWarnings("checkstyle:MemberName")
+  public final Trigger hasCargo = new Trigger(m_ballSensor::get);
+
   /** Create a new Storage subsystem. */
   public Storage() {
     // Set default command to turn off the storage motor and then idle
     setDefaultCommand(runOnce(m_motor::disable).andThen(run(() -> {})).withName("Idle"));
   }
 
-  /** Whether the ball storage is full. */
-  public boolean isFull() {
-    return m_ballSensor.get();
-  }
-
   /** Returns a command that runs the storage motor indefinitely. */
   public Command runCommand() {
     return run(() -> m_motor.set(1)).withName("run");