Command Based V iterative V Custom?

[E, Palmer]

So as this year begins to end I'm looking to next year. I am Programming lead for my team. This year we used the WPI Command Based Form given by FIRST. My question is, for next year, is this form the best option? I was not particularly pleased with the constant overhead that it forces. I do however realize the merit in the system, it allows for beginners to learn structure and the basics of programming in java. Next year however we wont have as many beginners and i was wondering what other teams are doing? is there an established, better way? or is command based the best?