[Joe Derrick]

I would support using command based programming and robotbuilder if your team is using java. The benefits are tremendous. Our team made the switch 3 years ago and it has paid off.

Some notes from our experience

1)Robotbuilder creates the proper structure for your overall program and has many examples that can be borrowed

2)at some point in your program development you should stop using it, or be tremendously diligent about your code writing as the //autogenerated code // sections can overwrite your hard work.

3) to my knowledge robotbuilder does not support CAN, but you can use the WPIlib examples to write those subystems yourself

4) Learn and exploit the parallel and sequential command sequences to your benefit.

5) Smartdashboard can get very cluttered and is good for testing but not ideal for competition.

Good luck!