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To help with coordination my organ teacher would have me play the left hand with pedals alone, then the right hand with pedals alone, then the pedals alone with both hands on the keyboards with no stops drawn hearing then only the pedal notes being played.
Another technique he used was to affix a large towel to the choir manual and attach that to me waist. This prevented me from looking down for the right notes, and I learned by feel and to this day (without looking) while situated at the console I can play any note on the pedalboard that is called out to me. It's like driving a car - the seat must be adjusted properly to reach the pedals (I use three pedals to drive by the way) in both height and distance.
You might also check out the Gleason method book ... the Stainer one is also another great resource for pedal technique.
But the bottom line is: practice, practice, practice ... then practice some more ... and when you think you are done practicing, nope, you practice even more. The pedal light on my church console is only there so that others can watch my feet in action as I never ever look down for a note to be played. I will look down occasionally for a pedal piston though.