def move_home():
    """
    """
    print "move_home"
    
    #Initial checks
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()

    #Enabling
    enable_motion()


    if not robot.is_home():
        robot.move_home()