这应该在死循环之前的项目主函数中完成。这样会将所有默认值都加载到 SpinTAC 速度规划中。该步骤可通过运行函数 ST_init（已在 spintac_velocity.h 头文件中声明）和函数 ST_setupVelPlan（已在 main.c 中声明）来完成。如果不希望使用上述两个函数，可使用下方的代码示例配置 SpinTAC 速度规划组件。本示例加载的是Topic Link Label14.5.5 中介绍的洗衣机系统配置。有关 SpinTAC Plan API 的详细信息，请参阅Topic Link Label4.7.3.1。

// init the ST VelPlan object
stVelPlanHandle = STVELPLAN_init(&stVelPlan, sizeof(ST_VelPlan_t));
// Pass the configuration array pointer into SpinTAC Velocity Plan
// Parameters: handle, pointer to array, size of array, number of actions, number of
conditions, number of variables, number of transitions, number of states
STVELPLAN_setCfgArray(stVelPlanHandle, &stVelPlanCfgArray[0], sizeof(stVelPlanCfgArray), 6, 4, 5, 7, 6);
// Establish the Velocity, Acceleration, and Jerk Maximums
_iq velMax = STVELMOVE_getVelocityMaximum(stVelMoveHandle);
_iq accMax = STVELMOVE_getAccelerationMaximum(stVelMoveHandle);
_iq jrkMax = STVELMOVE_getJerkMaximum(stVelMoveHandle);
// Configure SpinTAC Velocity Plan: Sample Time, VelMax, AccMax, DecMax, JrkMax, LoopENB
STVELPLAN_setCfg(stVelPlanHandle, _IQ24(ST_SPEED_SAMPLE_TIME),
                                  velMax, accMax, jrkMax, FALSE);
// Configure halt state: VelEnd, AccMax, JrkMax, Timer
STVELPLAN_setCfgHaltState(stVelPlanHandle, 0, accMax, jrkMax, 1000L);
//Example: STVELPLAN_addCfgState(handle, VelSetpoint[pups], StateTimer[ticks]);
//StateIdx0: Idle
STVELPLAN_addCfgState(stVelPlanHandle, 0,                                 2000L);
// StateIdx1: Fill
STVELPLAN_addCfgState(stVelPlanHandle, 0,                                 2000L);
// StateIdx2: AgiCW
STVELPLAN_addCfgState(stVelPlanHandle, _IQ24(0.25 * ST_SPEED_PU_PER_KRPM),  200L);
// StateIdx3: AgiCCW
STVELPLAN_addCfgState(stVelPlanHandle, _IQ24(-0.25 * ST_SPEED_PU_PER_KRPM), 200L);
// StateIdx4: Drain
STVELPLAN_addCfgState(stVelPlanHandle, 0,                                 2000L);
// StateIdx5: Dry
STVELPLAN_addCfgState(stVelPlanHandle, _IQ24(2 * ST_SPEED_PU_PER_KRPM),     2000L);
//Example: STVELPLAN_addCfgVar(handle, VarType,      InitialValue);
// VarIdx0: FillSensor {0: not filled; 1: filled}
STVELPLAN_addCfgVar(stVelPlanHandle,   ST_VAR_IN,    0);
// VarIdx1: DrainSensor {0: not drained; 1: drained}
STVELPLAN_addCfgVar(stVelPlanHandle,   ST_VAR_IN,    0);
// VarIdx2: CycleCounter
STVELPLAN_addCfgVar(stVelPlanHandle,   ST_VAR_INOUT, 0);
// VarIdx3: FillValve {0: valve closed; 1: valve open}
STVELPLAN_addCfgVar(stVelPlanHandle,   ST_VAR_OUT,   0);
// VarIdx4: DrainValve {0: valve closed; 1: valve open}
STVELPLAN_addCfgVar(stVelPlanHandle,   ST_VAR_OUT,   0);
//Example: STVELPLAN_addCfgCond(handle, VarIdx, Comparison,  Value1, Value2)
// CondIdx0: WaterFull Water is filled
STVELPLAN_addCfgCond(stVelPlanHandle,   0,      ST_COMP_EQ,  1,     0);
// CondIdx0: AgiNotDone SgitCycleCounter is greater than 0 (not done)
STVELPLAN_addCfgCond(stVelPlanHandle,   2,      ST_COMP_GT,  0,     0);
// CondIdx1: AgiDone SgitCycleCounter is equal or less than 0 (done)
STVELPLAN_addCfgCond(stVelPlanHandle,   2,      ST_COMP_ELW, 0,     0);
// CondIdx0: WaterEmpty Water is drained
STVELPLAN_addCfgCond(stVelPlanHandle,   1,      ST_COMP_EQ,  1,     0);
// Note: Set Value2 to 0 if Comparison is for only one value.
//Example: STVELPLAN_addCfgTran(handle, FromState, ToState, CondOption, CondIdx1,
CondiIdx2, AccLim[pups2], JrkLim[pups3]);
// From IdleState to FillState
STVELPLAN_addCfgTran(stVelPlanHandle, 0, 1, ST_COND_NC, 0, 0, _IQ24(0.1), _IQ20(1));
// From FillState to AgiState1
STVELPLAN_addCfgTran(stVelPlanHandle, 1, 2, ST_COND_FC, 0, 0, _IQ24(0.1), _IQ20(1));
// From AgiState1 to AgiState2
STVELPLAN_addCfgTran(stVelPlanHandle, 2, 3, ST_COND_NC, 0, 0, _IQ24(1), _IQ20(1));
// From AgiState2 to AgiState1
STVELPLAN_addCfgTran(stVelPlanHandle, 3, 2, ST_COND_FC, 1, 0, _IQ24(1), _IQ20(1));
// From AgiState2 to DrainState
STVELPLAN_addCfgTran(stVelPlanHandle, 3, 4, ST_COND_FC, 2, 0, _IQ24(0.1), _IQ20(1));
// From DrainState to DryState
STVELPLAN_addCfgTran(stVelPlanHandle, 4, 5, ST_COND_FC, 3, 0, _IQ24(0.2), _IQ20(1));
// From DryState to IdleState
STVELPLAN_addCfgTran(stVelPlanHandle, 5, 0, ST_COND_NC, 0, 0, _IQ24(0.1), _IQ20(1));
// Note: set CondIdx1 to 0 if CondOption is ST_COND_NC; set CondIdx2 to 0 if CondOption is ST_COND_NC or ST_COND_FC
//Example: STVELPLAN_addCfgAct(handle, StateIdx, VarIdx, Operation, Value, ActionTriger);
// In IdleState, preset AgiCycleCounter to 20
STVELPLAN_addCfgAct(stVelPlanHandle, 0, ST_COND_NC, 0, 0, 2, ST_ACT_EQ, 20, ST_ACT_EXIT);
// Decrease AgiCycleCounter by 1 every time enters AgiState1
STVELPLAN_addCfgAct(stVelPlanHandle, 2, ST_COND_NC, 0, 0, 2, ST_ACT_ADD, -1, ST_ACT_ENTR);
// In FillState, set VarIdx3 to 1 to open FillValve
STVELPLAN_addCfgAct(stVelPlanHandle, 1, ST_COND_NC, 0, 0, 3, ST_ACT_EQ, 1, ST_ACT_ENTR);
// In FillState, set VarIdx3 to 0 to close FillValve when FillSensor = 1
STVELPLAN_addCfgAct(stVelPlanHandle, 1, ST_COND_NC, 0, 0, 3, ST_ACT_EQ, 0, ST_ACT_EXIT);
// In DrainState, set VarIdx4 to 1 to open DrainValve
STVELPLAN_addCfgAct(stVelPlanHandle, 4, ST_COND_NC, 0, 0, 4, ST_ACT_EQ, 1, ST_ACT_ENTR);
// In DrainState, set VarIdx4 to 0 to close DrainValve when DrainSensor = 1
STVELPLAN_addCfgAct(stVelPlanHandle, 4, ST_COND_NC, 0, 0, 4, ST_ACT_EQ, 0, ST_ACT_EXIT);
// If there was an error during the configuration, force Plan into the Halt State
if(STVELPLAN_getErrorID(stVelPlanHandle) != FALSE) {
  // Configure FSM: Ts, VelMax, AccMax, DecMax, JrkMax, LoopENB
  STVELPLAN_setCfg(stVelPlanHandle, _IQ24(ST_SPEED_SAMPLE_TIME),
                                    velMax, accMax, jrkMax, FALSE);
// Configure halt state: VelEnd, AccMax, JrkMax, Timer
STVELPLAN_setCfgHaltState(stVelPlanHandle, 0, accMax, jrkMax, 1000L);}