[AlexD744]

I've had experience with both the iterative template and the command-based template. I've only glossed over the simple template. However, I would say that the command-based template was extremely easy to use once you got the hang of it. It was a weird switch from iterative, but it made autonomous programming go so much faster with the addParallel and addSequential commands. WaitCommand was also really handy to have, instead of having to creat your own. However, I would practice with it before using it in season, just because it's different and takes a little getting used to. At least it did for me.

As far as iterative goes, it's not too different from command based, except there's a lot more grunt work involved in creating autonomous, including a state machine. However, it's still doable and a great template. And I guess to be fair, the command based template has a lot more grunt work in creating classes, but I found that easier than creating a state machine.

I don't know much about simple robot.

If you haven't you should peruse some of the documentation that FIRST has, including the cookbook and the getting started guide.