To start this year, we used Simple Template, but in the off season, and during the WVROX event, we used Command Based. Having a very small programming background, I thought the transition would be difficult, but it was a lot easier than I though. Moreover, there is a tool called RobotBuilder which makes programming in command based a lot easier, and very quick. It works really well, and it is easy to work with, and teach to others.
This playlist of videos really helped me get started.
https://www.youtube.com/playlist?lis...wtlgnvhGObeKzp