PaulS:
There are no "Void"s in your sketch. There are FUNCTIONS. That the return type is void matters not a whit.The code seems relatively straight-forward. It is obvious that you didn't write the code. It seems equally obvious that you are trying to understand it so you can palm it off as your own.
So, you need to explain to us what YOU think it does, and we'll tell you whether you are right or wrong.
exactly I did not write it and what I look for is to understand each void as they work and the algorithm that uses to move the servomotors what I am looking for is to keep degrees of each servo of my arm to save a box in principle
but my goal would be for my robot arm to be able to save 3 types of boxes of 3 different types of size so that I tell you what kind of box the 3 is and move in such a way that I save it where I program it but for that I want to understand this code so I would like very much if you can help me to understand it well to the letter