Void Pre_auton

So I started learning how to program in general and I know the basics as of making the robot run with the joy stick. So after I accomplished the basics of making the robot work I got autonomous mode to work and I have come to the point of Void Pre_auton. I know it gives tells me what it does

( // Set bStopTasksBetweenModes to false if you want to keep user created tasks running between
// Autonomous and Tele-Op modes. You will need to manage all user created tasks if set to false.
bStopTasksBetweenModes = true;

// All activities that occur before the competition starts
// Example: clearing encoders, setting servo positions, ...)

But I still don’t understand what it does. So could someone tell me what the heck I’m supposed to do and what it does and how it affects me.

The pre_Auton function is run before the autonomous mode, and is used to perform any non-movement actions that you want to do before the match starts. This includes things like calibrating a gyro sensor, clearing encoder values, calculating sensor thresholds (such as the Line Tracker), or running a custom ‘program selector’ (to choose which autonomous program you want to run in that particular match).

It does not include any movement that would put your robot in an illegal starting position or score an object; your movement actions should only start in the autonomous task.

The pre_Auton function is completely optional and you do not have to modify it for a competition; it is only there for your convenience.