leaky abstractions and all aside, the coroutine code is unreadable to me after clean looking commands. :| yes, new Java(new Java(1), new ...) is bad, and async

leaky abstractions and all aside, the coroutine code is unreadable to me after clean looking commands. :| yes, new Java(new Java(1), new ...) is bad, and asynchronous programming paradigms are usually fitting for robotics, but abstractions are good.