Move constants and make the disable lights run

src/main/java/frc/robot/Constants.java

@@ -238,13 +238,14 @@ public static class Camera {
   /** The constants for the light strips */
   public static class LightStrips {
     /** The PWM ID for the underglow light strip */
-    public static final int UNDERGLOW_PWM_ID = 0;
+    public static final int UNDERGLOW_PWM_ID = 8;
 
-    /** The count of leds for the underglow light strip. */
-    public static final int UNDERGLOW_LED_COUNT = 60;
+    /** The count of LEDs for the underglow light strip. */
+    public static final int UNDERGLOW_LED_COUNT = 66;
 
-    /** The color for the lights when the robot is disabled. */
-    public static final Color DISABLED_COLOR =
-        new Color(255, 225, 0); // TODO: start using Color.fromHSV so tweaking is easier
+    public static final class Colors {
+      /** The color for the lights when the robot is disabled. */
+      public static final Color DISABLED_COLOR = Color.fromHSV(30, 255, 200);
+    }
   }
 }

src/main/java/frc/robot/Robot.java

@@ -34,15 +34,19 @@ public void robotPeriodic() {
 
   @Override
   public void disabledInit() {
-    CommandScheduler.getInstance().schedule(RobotContainer.disabledLights);
+    // HACK: Because the command scheduler doesn't run in disabled, we have to manually schedule
+    // disabledLights.
+    RobotContainer.disabledLights.initialize();
   }
 
   @Override
-  public void disabledPeriodic() {}
+  public void disabledPeriodic() {
+    RobotContainer.disabledLights.execute();
+  }
 
   @Override
   public void disabledExit() {
-    CommandScheduler.getInstance().cancel(RobotContainer.disabledLights);
+    RobotContainer.disabledLights.end(true);
   }
 
   @Override

src/main/java/frc/robot/commands/lightstrip/RobotDisabledLights.java

@@ -31,8 +31,9 @@ public RobotDisabledLights() {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    robotLights.setStripColor(Constants.LightStrips.DISABLED_COLOR);
+    robotLights.setStripColor(Constants.LightStrips.Colors.DISABLED_COLOR);
     robotLights.flush();
+    robotLights.startLights();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -45,6 +46,7 @@ public void end(boolean interrupted) {
     // Signal that the next run of this command should not to the fancy start animation
     robotLights.setStripColor(Color.kBlack);
     robotLights.flush();
+    robotLights.stopLights();
     isInitial = false;
   }