I have used nested state machines for a while now and they are really good if you have realtime needs, e.g. controlling motors, animations, audio/video playbsck

I have used nested state machines for a while now and they are really good if you have realtime needs, e.g. controlling motors, animations, audio/video playbsck and so on. The statemachine itself also forces you to think about which transitions between which states are possible and whst you may need to consider when such a state change happens.