def trash_sample():
    """
    """
    print "trash_sample"

    aerotech_x.waitValueInRange(-78, 1.0, 20000)
    
    #Initial checks
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()

    #Enabling
    enable_motion()

    gripping = robot.gripper_has_sample()

    if gripping is not None:
        raise Exception("unknown gripper state, cannot trash: dry gripper first")

    curpos = cryopos.getPosition()
    speed = cryopos.getSpeed()
    movetime = int(round(5000 + (15.  - curpos) / speed))
    cryopos.move(15.0, movetime)
    cryopos.waitValueInRange(15.0, 1.0, movetime)

    smart_magnet.set_supress(False)
    smart_magnet.set_current(10.0)

    if not robot.is_trash():
        robot.trash_sample()

    robot.move_cold()

    sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
    Controller.getInstance().logEvent("Sample Detection", str(sample_det))
    
    if sample_det:
        raise Exception("sample detected *after* trash action!")
     
    smart_magnet.set_default_current()
    smart_magnet.set_supress(True)