Ideally:
You won't waste time writing features you don't need. You'll have a comprehensive unit test suite to serve as a safety net for refactoring. You'll have executable examples of how your code is intended to be used. Your development flow will be smoother and faster; you'll spend less time in the debugger.
But most of all, your design will be better. Your code will be better factored - loosely coupled, highly cohesive - and better formed - smaller, better-named methods & classes.
