[choreolib] Add AutoRoutine.observe()

[bryceroethel]

Adds AutoRoutine.observe(BooleanSupplier condition), which returns a Trigger bound to the routine's event loop. Naming is flexible.

[oh-yes-0-fps]

I'm still really not a big fan of the name, .listen makes me feel like I'm telling some action to listen for an event to happen and respond where this is really just sanitizing the scope of a Trigger. .sanitize, .associate, or maybe even like .observe if wanna stick with the implications that the AutoRoutine is doing something.

[bryceroethel]

I like observe(), implementing now