I agree, the shift from Java's state machines or "command" system to Lua's coroutines does seem to make the code more intuitive and readable for beginners . Lua's in-built coroutine functionality can be a game-changer for FIRST teams dealing with the complexity of autonomous code 1. It would be fascinating to see how this technique could be applied to other areas of programming where tasks need to be paused and resumed. It's a testament to the versatility of coroutines.