I'm fairly new to xcos. I'd like to use a modulo function such that modulo(u,pi) wraps the argument in the range (-pi, pi). Does xcos have such a function?
For blocks not available in Xcos, there is always the sci_func block. This block can call a user defined function. You can easily implement your modulo program into a scilab function and then call this function from xcos using the sci_func block. See the spoken tutorial https://spoken-tutorial.org/watch/Scilab/Calling+User+Defined+Functions+in+XCOS/English/