I've been following along with the videos on youtube (
http://www.youtube.com/user/BradAMiller) and for the most part I've had few problems. Unfortunately, we use C++ and the examples during the coding portion aren't 100% compatible, but they are very close. C++ requires adding include files for commands that are used in a class and accessing methods a little differently (everything is a pointer, so "->" is used instead of ".").
We have used the iterative template in the past and command programming is new to us. Following the videos, however, I feel the concept is relatively easy to grasp and CERTAINLY much easier to implement in the long run as code reuse can be very high since one can call any command at any time.
Where this really shines however, is in test mode on the driver station (at which point you can manually control and tune subsystems) and manually calling commands from Smartdashboard while the robot is running. This allows one to check out each command before using commands in a sequence and even determine the best command order (or which commands can be run in parallel or need to be run sequentially).
Another great benefit to using this is the ease with which we should be able to get new programmers up and running. Because the basic structure is created by Robot Builder kids can worry more about the logic of programming and somewhat less about the complex structure of C++/Java.
For the last couple years I've been somewhat annoyed with all the cool tools the LabView guys get to play with. Its about time we had some of our own. Brad Miller and his guys have really outdone themselves this time.
- Bryce