function napis(robot,slovo,m,r,fi,e,delka,pocetr);
%m=[-100,250]; %pocatek psani
%r=5;  %velikost pismen
%fi=0; %uhel natoceni pismen
%e=3;  %delka mezery mezi znaky
n=[0,0];
%delka=200;  %delka radky
c=size(slovo);
k2=0;
soucstav=bbgetirc(robot);
soucstav=fix(soucstav);
bbmoveirc(robot,[soucstav(1),soucstav(2),-120000,0]);
bbwaitforready(robot);

if isempty(mojeikt(robot,m(1),m(2),0,0))   
   disp('Pocatecni bod lezi mimo pracovni oblast robota')
   return
end
 
pom=(transform(r*[0,0]+n,fi)+m);
if isempty(mojeikt(robot,pom(1),pom(2),0,0))

   disp('Napis jste umistil tak, ze cast pismene lezi mimo pracovni oblast robota ');
   return
end   
pom=(transform(r*[0,10]+n,fi)+m);
if isempty(mojeikt(robot,pom(1),pom(2),0,0))
   disp('Napis jste umistil tak, ze cast pismene lezi mimo pracovni oblast robota ');
   return
end   
pom=(transform(r*[6,0]+n,fi)+m);
if isempty(mojeikt(robot,pom(1),pom(2),0,0))
 
   disp('Napis jste umistil tak, ze cast pismene lezi mimo pracovni oblast robota ');
   return
end
pom=(transform(r*[6,10]+n,fi)+m);
if isempty(mojeikt(robot,pom(1),pom(2),0,0))
 
   disp('Napis jste umistil tak, ze cast pismene lezi mimo pracovni oblast robota ');
   return
end


for k=1:1:(2*c(2))   
   k=k-k2;
   if (n(1)+6*r)>delka
      n(1)=0;
      n(2)=n(2)-r*10-e;
   end
   if (n(2)<=pocetr*(-10*r-e))
      disp ('Napis se uz nevejde do zadane oblasti, pripadne ohranicene oblastmi mimo pracovni prostor robota')
      return
   end   

pom=(transform(r*[0,0]+n,fi)+m);
if ~isempty(mojeikt(robot,pom(1),pom(2),0,0))

pom=(transform(r*[0,10]+n,fi)+m);
if ~isempty(mojeikt(robot,pom(1),pom(2),0,0))
   
pom=(transform(r*[6,0]+n,fi)+m);
if ~isempty(mojeikt(robot,pom(1),pom(2),0,0))
 
pom=(transform(r*[6,10]+n,fi)+m);
if ~isempty(mojeikt(robot,pom(1),pom(2),0,0))
 
    
   

   switch slovo(k)
         case 'A'
            presunup(robot,transform(n,fi)+m);     
            matice1=primka2(robot,transform(n,fi)+m,transform(r*[3,10]+n,fi)+m);  
            matice2=primka2(robot,transform(r*[3,10]+n,fi)+m,transform(r*[6,0]+n,fi)+m);
            nahoru(robot);
            presunup(robot,transform(r*[0.9,3]+n,fi)+m);
            matice3=primka2(robot,transform(r*[0.9,3]+n,fi)+m,transform(r*[5.1,3]+n,fi)+m);
            n=n+r*[6,0]; 
            nahoru(robot);
				
         case 'B'
            presunup(robot,transform(r*[0,0]+n,fi)+m);
            matice1=primka2(robot,transform(r*[0,0]+n,fi)+m,transform(r*[0,10]+n,fi)+m);
            matice2=primka2(robot,transform(r*[0,10]+n,fi)+m,transform(r*[3,10]+n,fi)+m);
			   matice3=oblouk(robot,r*2.25,transform(r*[3,7.75]+n,fi)+m,[90,-90]+fi,-1);
				matice4=primka2(robot,transform(r*[3,5.5]+n,fi)+m,transform(r*[0,5.5]+n,fi)+m);
				matice5=primka2(robot,transform(r*[0,5.5]+n,fi)+m,transform(r*[3,5.5]+n,fi)+m);
				matice6=oblouk(robot,r*2.75,transform(r*[3,2.75]+n,fi)+m,[90,-90]+fi,-1);
				matice7=primka2(robot,transform(r*[3,0]+n,fi)+m,transform(n,fi)+m);
            n=n+r*[5.75,0]; 
				nahoru(robot);

         case 'O'
            presunup(robot,transform(r*[6,7]+n,fi)+m);
            matice1=oblouk(robot,r*3,transform(r*[3,7]+n,fi)+m,[0,180]+fi,1);
				matice2=primka2(robot,transform(r*[0,7]+n,fi)+m,transform(r*[0,3]+n,fi)+m);
				matice3=oblouk(robot,r*3,transform(r*[3,3]+n,fi)+m,[180,360]+fi,1);
            matice4=primka2(robot,transform(r*[6,3]+n,fi)+m,transform(r*[6,7]+n,fi)+m);
            n=n+r*[6,0]; 
            nahoru(robot);

            
			case 'S'
			   presunup(robot,transform(r*[4.75,9]+n,fi)+m);
            matice1=primka2(robot,transform(r*[4.75,9]+n,fi)+m,transform(r*[4,9.5]+n,fi)+m);
				matice2=oblouk(robot,r*2.5,transform(r*[2.5,7.5]+n,fi)+m,[53.1,270]+fi,1);
				matice3=oblouk(robot,r*2.5,transform(r*[2.5,2.5]+n,fi)+m,[90,216.9]+fi,-1);          
            matice4=primka2(robot,transform(r*[1,0.5]+n,fi)+m,transform(r*[0.25,1]+n,fi)+m);
            n=n+r*[5,0];
            nahoru(robot);

            
         case 'C'
            presunup(robot,transform(r*[5,10]+n,fi)+m);
            matice1=primka2(robot,transform(r*[5,10]+n,fi)+m,transform(r*[2,10]+n,fi)+m);
            matice2=oblouk(robot,r*2,transform(r*[2,8]+n,fi)+m,[90,180]+fi,1);
            matice3=primka2(robot,transform(r*[0,8]+n,fi)+m,transform(r*[0,2]+n,fi)+m);
            matice4=oblouk(robot,r*2,transform(r*[2,2]+n,fi)+m,[180,270]+fi,1);
            matice5=primka2(robot,transform(r*[2,0]+n,fi)+m,transform(r*[5,0]+n,fi)+m);
            n=n+r*[5,0]; 
            nahoru(robot);


			case 'H'
            presunup(robot,transform(r*[0,10]+n,fi)+m);
            matice1=primka2(robot,transform(r*[0,10]+n,fi)+m,transform(r*[0,0]+n,fi)+m);
            nahoru(robot);
            presunup(robot,transform(r*[0,5.5]+n,fi)+m);
            matice2=primka2(robot,transform(r*[0,5.5]+n,fi)+m,transform(r*[5,5.5]+n,fi)+m);
            nahoru(robot);
            presunup(robot,transform(r*[5,10]+n,fi)+m);
            matice3=primka2(robot,transform(r*[5,10]+n,fi)+m,transform(r*[5,0]+n,fi)+m);
            n=n+r*[5,0]; 
            nahoru(robot);

            
			case 'I' 
   			presunup(robot,transform(r*[0,10]+n,fi)+m);
            matice1=primka2(robot,transform(r*[0,10]+n,fi)+m,transform(r*[0,0]+n,fi)+m);
            n=n+r*[1,0];
            nahoru(robot);

            
         case 'L'
            presunup(robot,transform(r*[0,10]+n,fi)+m);
            matice1=primka2(robot,transform(r*[0,10]+n,fi)+m,transform(r*[0,0]+n,fi)+m);
            matice2=primka2(robot,transform(r*[0,0]+n,fi)+m,transform(r*[5,0]+n,fi)+m);
            n=n+r*[5,0];
            nahoru(robot);

            
         case 'E'
            presunup(robot,transform(r*[0,10]+n,fi)+m);
            matice1=primka2(robot,transform(r*[0,10]+n,fi)+m,transform(r*[0,0]+n,fi)+m);
            nahoru(robot);
				presunup(robot,transform(r*[0,10]+n,fi)+m);
            matice2=primka2(robot,transform(r*[0,10]+n,fi)+m,transform(r*[5,10]+n,fi)+m);
            nahoru(robot);
				presunup(robot,transform(r*[0,5.5]+n,fi)+m);
            matice3=primka2(robot,transform(r*[0,5.5]+n,fi)+m,transform(r*[4,5.5]+n,fi)+m);         
            nahoru(robot);
				presunup(robot,transform(r*[0,0]+n,fi)+m);
            matice4=primka2(robot,transform(r*[0,0]+n,fi)+m,transform(r*[5,0]+n,fi)+m);         
            n=n+r*[5,0];
            nahoru(robot);
           
         case 'P'
            presunup(robot,transform(r*[0,0]+n,fi)+m);
				matice1=primka2(robot,transform(r*[0,0]+n,fi)+m,transform(r*[0,10]+n,fi)+m);
            matice2=primka2(robot,transform(r*[0,10]+n,fi)+m,transform(r*[3,10]+n,fi)+m);
				matice3=oblouk(robot,r*2.75,transform(r*[3,7.25]+n,fi)+m,[90,270]+fi,-1);
				matice4=primka2(robot,transform(r*[3,4.5]+n,fi)+m,transform(r*[0,4.5]+n,fi)+m);
            n=n+r*[6,0];
            nahoru(robot);

             
         case 'R'
            presunup(robot,transform(r*[0,0]+n,fi)+m);
            matice1=primka2(robot,transform(r*[0,0]+n,fi)+m,transform(r*[0,10]+n,fi)+m);
            matice2=primka2(robot,transform(r*[0,10]+n,fi)+m,transform(r*[3,10]+n,fi)+m);
				matice3=oblouk(robot,r*2.75,transform(r*[3,7.25]+n,fi)+m,[90,270]+fi,-1);
            matice4=primka2(robot,transform(r*[3,4.5]+n,fi)+m,transform(r*[0,4.5]+n,fi)+m);
            nahoru(robot);
            presunup(robot,transform(r*[3.5,4.5]+n,fi)+m);
				matice5=primka2(robot,transform(r*[3.5,4.5]+n,fi)+m,transform(r*[5.5,0]+n,fi)+m);
            n=n+r*[6,0];
            nahoru(robot);


            
			case 'F'
   			presunup(robot,transform(r*[0,0]+n,fi)+m);
				matice1=primka2(robot,transform(r*[0,0]+n,fi)+m,transform(r*[0,10]+n,fi)+m);
            matice2=primka2(robot,transform(r*[0,10]+n,fi)+m,transform(r*[5,10]+n,fi)+m);
            nahoru(robot);
            presunup(robot,transform(r*[0,5.5]+n,fi)+m);
            matice3=primka2(robot,transform(r*[0,5.5]+n,fi)+m,transform(r*[4,5.5]+n,fi)+m);         
            n=n+r*[5,0];
            nahoru(robot);



            
            
end
n=n+[e,0]; 
if (k2+c(2))<k
   disp ('Napis se uz nevejde do zadane oblasti, pripadne ohranicene oblastmi mimo pracovni prostor robota')
   return
end   
else  
   n(1)=0;
   n(2)=n(2)-r*10-e;
   k2=k2+1;
end
else  
   n(1)=0;
   n(2)=n(2)-r*10-e;
      k2=k2+1;
end
else  
   n(1)=0;
   n(2)=n(2)-r*10-e;
      k2=k2+1;
end
else  
   n(1)=0;
   n(2)=n(2)-r*10-e;
      k2=k2+1;
end
end