[Kevin Sevcik]

I suspect the motivation is to help compartmentalize and organize the code. If you're doing any sort of complicated state machine, a switch statement can get out of hand rather quickly, unless you're building up separate functions for each case. Which makes the switch statement largely similar to this StateMachine Class, except that adding a new state requires adding a new case to your switch statement, etc. etc. Adding a new state to this state machine looks a bit easier. Also, since it's dynamically allocated, you can change the state callbacks at runtime. If, for instance, you wanted to run a different set of states depending on your alliance or robot position. Instead of having two switches, or a bunch of conditionals, or whatever else.