Your ESCs should have a battery eliminator circuit built in. The red wire in your connectors (those three-pin cables with orange, red and brown) should be at about 5V. If you connect your LEDs to this, or one LED and a resistor, and the other side to the ground/negative rail, you should be fine. If you want, you can pop the red wire out of the connector to secure it to your LED.
As for what resistor, you just need to make sure your LEDs aren't getting more of a voltage drop across them than they're rated for. LEDs' voltage rating goes up roughly along with the energy of the wavelength they emit, so red LEDs only need around 1.8V, while blues usually need around 2.2-2.4V. So either put LEDs in series until their ratings add up to roughly 5V, or put a resistor in (330 Ohms is usually fine for supplies 9V and under) with fewer LEDs. If your LEDs seem dim, just try lowering the value of the resistor a little. But if your blue/green LEDs start to glow red, that's when you know you're giving it too much juice.
As for what resistor, you just need to make sure your LEDs aren't getting more of a voltage drop across them than they're rated for. LEDs' voltage rating goes up roughly along with the energy of the wavelength they emit, so red LEDs only need around 1.8V, while blues usually need around 2.2-2.4V. So either put LEDs in series until their ratings add up to roughly 5V, or put a resistor in (330 Ohms is usually fine for supplies 9V and under) with fewer LEDs. If your LEDs seem dim, just try lowering the value of the resistor a little. But if your blue/green LEDs start to glow red, that's when you know you're giving it too much juice.
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