def set_air_stream(state):
    """
    """
    valve_1.write(state)
    valve_2.write(not state)


def set_heater(state):
    """
    """
    gripper_dryer.write(state)


def get_air_stream():
    """
    """
    return valve_1.read()


def get_heater():
    """
    """
    return gripper_dryer.read()



def dry(heat_time, speed):    
    """
        heat_time (float): in seconds
        speed (float): % of nominal speed
    """
    print "dry"
    #Initial checks
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()

    #Enabling
    enable_motion()    

    try:
        set_heater(True)
        robot.move_heater(speed, False)    
        time.sleep(heat_time)
        robot.move_heater(speed, True)    
        set_air_stream(True)        
        robot.move_heater(speed, False)    
    finally:
        set_heater(False)
        set_air_stream(False)

    robot.move_dewar()