function [gama R_kr]=Roboto_pozicija(c, alfa)
gama=zeros(1, c);
R_kr=zeros(c, 2);
for i=1:c
    gama(i)=alfa + 360/c*(i-1);
    gama(i)=mod(gama(i),360);
    
    %nustatomos kontaktu asiu kryptys
    if (gama(i)>=0 && gama(i)<90) || (gama(i)>270 && gama(i)<=360)
        R_kr(i,1)=1;
    elseif gama(i)>90 && gama(i)<270
        R_kr(i,1)=-1;
    else
        R_kr(i,1)=0;
    end
    if (gama(i)>0 && gama(i)<180)
        R_kr(i,2)=1;
    elseif gama(i)>180 && gama(i)<360
        R_kr(i,2)=-1;
    else
        R_kr(i,2)=0;
    end
end