def get_aux(sample):
    """
    """
    print "get_aux: ",sample
    
    #Initial checks
    assert_valid_sample(sample)
    
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    hexiposi.assert_homed()
    
    #Enabling
    enable_motion()
    
    if not robot.is_aux():
        robot.move_aux()     
            
    robot.get_aux(sample)