[examples] Move triggers to subsystem fields (#6318)

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(

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();
-}

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};