Statecharts are an established mechanism to model reactive, state-oriented behavior of embedded systems. We here present an approach to automatically generate code from statecharts, with a particular focus on readability and ease of matching the generated code with the original model. This not only saves programming effort and reduces the error rate compared to manual coding, but it also facilitates the task of verifying that the code does what it is supposed to do. We have implemented this approach for the SCCharts language in an open-source framework. A user study confirmed that the generated code tends to be more readable than code from other code generators.