Unfortunately the only way to check the idle is with a tacho, or with garage equipment, I use a Gunson autoranger meter which does RPM, Dwell and few other Diagnostics, There are some professional timing lights that have a tacho built in but are quite expensive. I also switch the headlights on when setting the idle.
When or if the oil light comes on switch all the electrics on and adjust the carburettor idle adjustment screw until the light goes out and it shouldn't be too far off.
If you have a friendly Garage or Motorcycle shop they should be able to set the idle in a couple of minutes, Once set it will give you an idea with the engine note where it should be in case you have to adjust it in the future.