C++ Robot: Simple or Iterative?

[Abrakadabra]

Other threads have touched on this topic a bit, and the User's Guide makes an attempt, but I have yet to see a definitive list of reasons for why I should choose IterativeRobot over SimpleRobot (or vice versa). Do you have any?

For the purposes of this exercise, let's assume that my programming team is very comfortable in C++ and would have no trouble understanding the complexities of the IterativeRobot paradigm. However, we also have very little programming experience invested in the prior seasons, so we're not necessarily more comfortable with one model over the other.

Let's also assume that our robot will want to do some standard but fairly complex tasks: employ a variable-speed turret shooter using a camera to automatically track and fire at opponent's trailer(s) while the robot simultaneously moves around the field collecting balls and keeping a ball inventory for the shooter. These tasks would take place in both teleop and autonomous.

Is there anything that would be very hard or impossible to do in this scenario using SimpleRobot? Anything that mandates Iterative over Simple? How about SimpleRobot combined with the judicious use of Tasks?

Thanks in advance!