Implemented custom param (#99)

Implement motor controller custom params

gen/MotController_data.yml

@@ -58,6 +58,9 @@ c_MotController_Create1:
       
       'vel_measurement_period': 0,
       'vel_measurement_window': 0,
+
+      "custom_param_0": 0,
+      "custom_param_1": 0,
       
       # Quadrature encoder data
       'quad_position': 0,
@@ -1374,6 +1377,8 @@ c_MotController_HasResetOccurred:
   doc: |
     :returns: Returns true if the device has reset since last call
 c_MotController_ConfigSetCustomParam:
+  code: |
+    self.hal_data["custom_param_%d" % paramIndex] = newValue
   doc: |
     Sets the value of a custom parameter. This is for arbitrary use.
 
@@ -1391,6 +1396,8 @@ c_MotController_ConfigSetCustomParam:
         If zero, no blocking or checking is performed.
     :returns: Error Code generated by function. 0 indicates no error.
 c_MotController_ConfigGetCustomParam:
+  code: |
+    retval = self.hal_data["custom_param_%d" % paramIndex]
   doc: |
     Gets the value of a custom parameter.
 

tests/test_talonsrx.py

@@ -161,9 +161,10 @@ def test_basemotorcontroller_configForwardSoftLimitThreshold(talon, cdata):
     assert cdata["soft_limit_for"] == 1
 
 
-@pytest.mark.xfail(raises=NotImplementedError)
-def test_basemotorcontroller_configGetCustomParam(talon):
-    talon.configGetCustomParam(1, 2)
+def test_basemotorcontroller_configGetCustomParam(talon, cdata):
+    cdata["custom_param_1"] = 10
+    param = talon.configGetCustomParam(1, 2)
+    assert param == 10 == cdata["custom_param_1"]
 
 
 config_data = [
@@ -296,9 +297,9 @@ def test_basemotorcontroller_configSensorTerm(talon, cdata):
     assert cdata["sensor_term"] == (5, 6)
 
 
-@pytest.mark.xfail(raises=NotImplementedError)
-def test_basemotorcontroller_configSetCustomParam(talon):
+def test_basemotorcontroller_configSetCustomParam(talon, cdata):
     talon.configSetCustomParam(1, 2, 3)
+    assert cdata["custom_param_2"] == 1
 
 
 def test_basemotorcontroller_configVelocityMeasurementPeriod(talon, cdata):