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

    #Enabling
    enable_motion()

    robot.move_heater(to_bottom = False)    
    robot.move_heater(to_bottom = True)    
    
    for i in range(3):
        robot.open_tool()
        time.sleep(1.0)
        robot.close_tool()
            
    robot.move_heater(to_bottom =  False)    
    robot.move_home()