Command to turn on/off limelight LED

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

@@ -0,0 +1,23 @@
+package frc.robot.commands;
+
+import frc.robot.subsystems.limelight.VisionIO;
+import frc.robot.utils.logging.commands.LoggableCommand;
+
+public class ChangeLimelightLight extends LoggableCommand {
+  private final VisionIO io;
+  private boolean on;
+
+  public ChangeLimelightLight(boolean on, VisionIO io) {
+    this.io = io;
+  }
+
+  @Override
+  public void initialize() {
+    io.setLedMode(on ? 3 : 1);
+  }
+
+  @Override
+  public boolean isFinished() {
+    return true;
+  }
+}

src/main/java/frc/robot/subsystems/limelight/MockVisionIO.java

@@ -3,4 +3,7 @@
 public class MockVisionIO implements VisionIO {
   @Override
   public void updateInputs(VisionInputs inputs) {}
+
+  @Override
+  public void setLedMode(int mode) {}
 }

src/main/java/frc/robot/subsystems/limelight/RealVisionIO.java

@@ -52,4 +52,8 @@ public void updateInputs(VisionInputs inputs) {
     inputs.valid = results.valid;
     inputs.ledMode = (int) ledModeEntry.getInteger(-1);
   }
+
+  public void setLedMode(int mode) {
+    ledModeEntry.setNumber(mode);
+  }
 }

src/main/java/frc/robot/subsystems/limelight/VisionIO.java

@@ -2,4 +2,6 @@
 
 import frc.robot.utils.logging.LoggableIO;
 
-public interface VisionIO extends LoggableIO<VisionInputs> {}
+public interface VisionIO extends LoggableIO<VisionInputs> {
+  void setLedMode(int mode);
+}