Create LightShow.java

- Example CANdle usage in command

src/main/java/frc/robot/commands/LightShow.java

@@ -0,0 +1,44 @@
+// 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.
+
+package frc.robot.commands;
+
+import java.util.function.BooleanSupplier;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.SystemLights;
+
+public class LightShow extends Command {
+
+  private final SystemLights systemLights;
+  private final BooleanSupplier hasNoteSupplier;
+  private final BooleanSupplier isShoulderHomeSupplier;
+  private Timer timer;
+  private double LED_CYCLE = 0.1; // 100 ms
+
+  public LightShow(SystemLights systemLights, BooleanSupplier hasNoteSupplier,
+      BooleanSupplier isShoulderHomeSupplier) {
+    this.systemLights = systemLights;
+    this.hasNoteSupplier = hasNoteSupplier;
+    this.isShoulderHomeSupplier = isShoulderHomeSupplier;
+    timer = new Timer();
+    addRequirements(systemLights);
+  }
+
+  @Override
+  public void initialize() {
+    timer.start();
+  }
+
+  @Override
+  public void execute() {
+    if (timer.advanceIfElapsed(LED_CYCLE)) {
+      if (hasNoteSupplier.getAsBoolean()) {
+        systemLights.setLEDs(0, 0, 0);
+      } else if (isShoulderHomeSupplier.getAsBoolean())
+        timer.reset();
+    }
+  }
+}