[Ginto8]

If you're using the Iterative template as it's intended (meaning periodic() doesn't hang), then your autonomous mode code will be automatically stopped when you leave autonomous mode. In the Command-based setup, since the Scheduler handles running everything, you have to make sure you cancel any Commands if you don't want them to keep running (the default template does this). SimpleRobot gives absolute control, and it makes it your responsibility as the programmer to check for the current mode and exit when necessary.