SimpleRobot versus IterativeRobot

[jfitz0807]

We decided to switch to java this year. We're trying to get the framework set up.

The RobotBuilder tool created a Robot class that extends IterativeRobot. Most of the examples I have seen on line so far show a Robot class that extends SimpleRobot. What are the pros & cons of each?

Also, for the IterativeRobot, the autonomousPeriodic() and teleopPeriodic() methods both call Scheduler.getInstance().run(). What does this method do? Do I need to add code to these methods or does Scheduler.getInstance().run() call some other methods periodically in which I would put my code?