[JefferMC]

Iterative is more straightforward. Once you chafe at the restrictions that iterative imposes on you, switching to CommandBased will probably feel like a breath of fresh air. Before these frameworks came out, it was really hard for a student programmer just learning programming to do anything with coding. Now, with a rudimentary understanding of C++, they can successfully create new commands and work on Subsystems. More experienced student programmers can do the whole thing.

Doing more than one thing at a time in Iterative is complicated (i.e. driving while moving an arm). In CommandBased, it's easy.

I tend to avoid the RobotBuilder because I want to explain what we're doing as we go along, but the code it emits is not all that different from what I would code by hand (that is, before you have to put your logic in).