[kmckay]

Command based is much more robust, distributive, and reusable.
It is robust in that it lets you do more things, and creates a default architectureto do the m in. Distributive means that more than one person can work on it atthe same time. The bunch of files means that joe can work on one subsystem while jane works on another, and integrating them is fairly easy once you get the hang of it. And reuse means you will build a on term library. We published our drive base code from last year and then this year we just picked it up and dropped it in.
We have a work in progress development guide that helps keep track of how to build acommand based code. Lots still to fill in, but we found the online guides lacking a lot. Its at team5401.org under Resources -> Tutorials