Added loading animation

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

@@ -217,10 +217,10 @@ public static final class ClimberConstants {
 
   public static final class LEDConstants {
     public static final int ledPort = 0;
-    public static final int bufferLength = 50;
+    public static final int bufferLength = 100;
 
     public static final Color transparent = new Color(0, 0, 0);
-    public static final Color rslColor = new Color(255, 125, 25);
+    public static final Color rslColor = new Color(255, 25, 0);
   }
 
   public static final class SwerveConstants {

src/main/java/frc/robot/commands/leds/LoadingAnimation.java

@@ -0,0 +1,80 @@
+// 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.leds;
+
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.LEDConstants;
+import frc.robot.subsystems.LEDs;
+
+public class LoadingAnimation extends Command {
+  private final LEDs leds;
+  private final Color color;
+
+  private static final int length = 12;
+  private static final int incrementAmount = 2;
+  private boolean increasing = true;
+  private int startOffset = 0;
+
+  /** Creates a new LoadingAnimation. */
+  public LoadingAnimation(Color color, LEDs leds) {
+    this.color = color;
+    this.leds = leds;
+
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(leds);
+  }
+
+  @Override
+  public boolean runsWhenDisabled() {
+    return true;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    increasing = true;
+    startOffset = 0;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    AddressableLEDBuffer buffer = leds.getBuffer();
+    if (increasing) {
+      startOffset += incrementAmount;
+    } else {
+      startOffset -= incrementAmount;
+    }
+
+    if (increasing && startOffset + length >= buffer.getLength()) {
+      startOffset = buffer.getLength() - length;
+      increasing = false;
+    } else if (!increasing && startOffset <= 0) {
+      startOffset = 0;
+      increasing = true;
+    }
+
+    for (int i = 0; i < buffer.getLength(); i++) {
+      if (i >= startOffset && i <= startOffset + length) {
+        buffer.setLED(i, color);
+      } else {
+        buffer.setLED(i, LEDConstants.transparent);
+      }
+    }
+    leds.updateBuffer();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/leds/RSLSync.java

@@ -36,7 +36,9 @@ public boolean runsWhenDisabled() {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    ledsOn = false;
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override