Small improvements in sine block

Removal off old stuff from simulator
Make our clock explicit instead of magic number.

controller/block/block_sine.c

@@ -54,6 +54,8 @@ static void sine_calculate(struct controller_block *sine)
 	float current = priv->current;
 	
 	current += priv->step;
+	if (current > M_PI * 2)
+		current -= M_PI * 2;
 	priv->value = sinf(current);
 	
 	priv->current = current;

controller/controller/controller_sample.c

@@ -157,7 +157,7 @@ static void *sample_thread(void *arg)
 	}
 
 #ifndef __FreeBSD__
-	clock = 0;
+	clock = CLOCK_REALTIME;
 #else
 	clock = CLOCK_MONOTONIC_PRECISE;
 	pthread_condattr_init(&attr);
@@ -189,7 +189,7 @@ static void *sample_thread(void *arg)
 		/* Wait for the right moment... 
 		   (Internal timer or external interrupt) */
 #ifndef __FreeBSD__
-		clock_nanosleep(0, TIMER_ABSTIME, &t, NULL);
+		clock_nanosleep(clock, TIMER_ABSTIME, &t, NULL);
 #else
 		pthread_cond_timedwait(&cv, &lock, &t);
 #endif

controller/dt_ctrl_az_sim.ctrl

@@ -4,11 +4,6 @@ blocks {
 	{ "subtract",	"dt_az_speed_fb"	}
 	{ "pid",	"dt_az_driver"	}
 	{ "limit_dyn",	"dt_az_torque_limit"	}
-	{ "random",	"dt_az_torque_noise_rnd"	}
-	{ "gain",	"dt_az_torque_noise_gain"	}
-	{ "value",	"dt_az_torque_noise_0"	}
-	{ "sine",	"dt_az_torque_noise_sine"	}
-	{ "add",	"dt_az_torque_noise_add"	}
 	{ "friction",	"dt_az_friction"	}
 	{ "pid",	"dt_az_accelerate"	}
 	{ "pid",	"dt_az_speed2pos"	}
@@ -31,10 +26,7 @@ links {
 	{ "dt_az_speed_quantize",	"out",		"dt_az_speed_fb", 		"positive",	true }
 	{ "dt_az_speed_fb",		"difference",	"dt_az_driver", 		"in",       	true }
 	{ "dt_az_driver",		"out",		"dt_az_torque_limit",		"in",       	true }
-	{ "dt_az_torque_limit",		"out",		"dt_az_torque_noise_add",	"in0",      	true }
-	{ "dt_az_torque_noise_0",	"value",	"dt_az_torque_noise_gain",	"in",		true }
-	{ "dt_az_torque_noise_gain",	"out",		"dt_az_torque_noise_add", 	"in1", 		true }
-	{ "dt_az_torque_noise_add",	"out",		"dt_az_friction",		"in",       	true }
+	{ "dt_az_torque_limit",		"out",		"dt_az_friction",		"in",       	true }
 	{ "dt_az_friction",		"out",		"dt_az_accelerate",        	"in",       	true }
 	{ "dt_az_accelerate",		"out",		"dt_az_speed2pos",         	"in",       	true }
 	{ "dt_az_accelerate",		"out",		"dt_az_speed_fb",          	"negative", 	false }
@@ -70,9 +62,6 @@ params {
 	{ "dt_az_speed2pos",         "kd",              (float)0.0 }
 	{ "dt_az_speed2pos",         "t",               (float)0.004 }
 	{ "dt_az_pos_quantize",      "quantum",         (float)2.0 * pi / 16384.0 }
-	{ "dt_az_torque_noise_gain", "gain",            (float)0.0 }
-	{ "dt_az_torque_noise_0",    "value",           (float)0.0 }
-	{ "dt_az_torque_noise_sine", "f",               (float)0.0 }
 	{ "dt_az_focusbox",          "value",           (float)5.0 }
 	{ "dt_az_offset",            "value",      	(float)-21730.3997815 }
 	{ "dt_az_bex",               "value",      	(int)0 }