[Kevin Sevcik]

I've got a better guess. They want the robot to stop moving if it get whacked by another bot, and start again after the gyro settles down. and the robot stops going nuts. In that case, the check for the gyro condition comes before all other auto code. Like thus:

User_Autonomous()
{

gyro state reading goes here

if(gyro in good state)
{
good gyro code goes here
including all counter incrementing, auto mode switching, etc.
}
else
{
code to run if gyro is crazy goes here
could be an alternate automode or something else
stopping motors, etc.
}

}

That's much more pseudo than it is code, of course. You could get fancy and set a flag such that the gyro has to be sane for X loops for it to enter the good auto code. With the above code, the execution could jump into the good auto loop if you happen to catch the gyro fluctuating through a good value.