This can be done the same way as we draw numbers and letters. First we need to create our map using 3 basic steps.
Step 1: Find a suitable picture. Remember the more complex the picture the bigger your grid must be and the more difficult it will be to teach the robot to draw it.
Step 2: Using your favourite art program (or tracing paper, pencil and ruler if you printed the image) place a grid on top of the image. Trace over the image to generate the lines you want the robot to draw.
Step 3: Remove the original image and check how your drawing should look. At this point you may want to make some changes before you start writing the code.