How do you start autonomous code?

We have done tons and tons of research as a team, learning about PID control loops, sensors and whatnot, but the one thing that keeps tripping us up is how you start autonomous code. It seems that you connect to the field control thing so all the robots start at the same time, but how does it know what code to use? Is there something we need to put in our autonomous code so it recognizes to use that code? I’m sorry if this is an easy answer, but we are all really confused on how that all works. Thank you in advance.

You need to put your code into the field control template, in the appropriate sections, for it to run on field control.

Go to File>New>Competition Template