该操作可在主循环中完成。本代码示例中包括与注排水阀及传感器进行交互所需的代码。作为自动售货机仿真的一部分，它还会更新商品存货信息。

// SpinTAC Position Plan
if(gPosPlanRunFlag == ST_PLAN_STOP
                                 && gMotorVars.SpinTAC.PosPlanRun == ST_PLAN_START) {
  if(STPOSMOVE_getDone(stPosMoveHandle) == true) {
    if(STPOSPLAN_getErrorID(stPosPlanHandle) != false) {
      STPOSPLAN_setEnable(stPosPlanHandle, false);
      STPOSPLAN_setReset(stPosPlanHandle, true);
      gMotorVars.SpinTAC.PosPlanRun = gPosPlanRunFlag;
    }
    else {
      STPOSPLAN_setEnable(stPosPlanHandle, true);
      STPOSPLAN_setReset(stPosPlanHandle, false);
      gPosPlanRunFlag = gMotorVars.SpinTAC.PosPlanRun;
    }
  }
}
if(gMotorVars.SpinTAC.PosPlanRun == ST_PLAN_STOP) {
  STPOSPLAN_setReset(stPosPlanHandle, true);
  gPosPlanRunFlag = gMotorVars.SpinTAC.PosPlanRun;
}
if(gPosPlanRunFlag == ST_PLAN_START
                                 && gMotorVars.SpinTAC.PosPlanRun == ST_PLAN_PAUSE) {
  STPOSPLAN_setEnable(stPosPlanHandle, false);
  gPosPlanRunFlag = gMotorVars.SpinTAC.PosPlanRun;
}
if(gPosPlanRunFlag == ST_PLAN_PAUSE
                                 && gMotorVars.SpinTAC.PosPlanRun == ST_PLAN_START) {
  STPOSPLAN_setEnable(stPosPlanHandle, true);
  gPosPlanRunFlag = gMotorVars.SpinTAC.PosPlanRun;
}
// if we have selected an item from the machine
if(gVendSelectButton == 1) {
  if(STPOSPLAN_getStatus(stPosPlanHandle) != ST_PLAN_IDLE) {
    // decrease our inventory
    gVendInventory[gVendAvailableItem - 1]--;
  }
  // toggle the select button off
  gVendSelectButton = 0;
}
// Update variables passed into Plan
STPOSPLAN_setVar(stPosPlanHandle, VEND_Fwd, gVendFwdButton);
STPOSPLAN_setVar(stPosPlanHandle, VEND_Item0Inv, gVendInventory[VEND_ITEM0 - 1]);
STPOSPLAN_setVar(stPosPlanHandle, VEND_Item1Inv, gVendInventory[VEND_ITEM1 - 1]);
STPOSPLAN_setVar(stPosPlanHandle, VEND_Item2Inv, gVendInventory[VEND_ITEM2 - 1]);
STPOSPLAN_setVar(stPosPlanHandle, VEND_Item3Inv, gVendInventory[VEND_ITEM3 - 1]);
STPOSPLAN_setVar(stPosPlanHandle, VEND_TotalInv,
      gVendInventory[0] + gVendInventory[1] + gVendInventory[2] + gVendInventory[3]);
// Run SpinTAC Position Plan
STPOSPLAN_run(stPosPlanHandle);
// display the selected item
if(STPOSPLAN_getCurrentState(stPosPlanHandle) > 0) {
  gVendAvailableItem = (VEND_State_e)STPOSPLAN_getCurrentState(stPosPlanHandle);
}
else {
  gVendAvailableItem = VEND_ITEM0;
}
// Update variables passed out of Plan
if(STPOSPLAN_getFsmState(stPosPlanHandle) == ST_FSM_STATE_STAY) {
  STPOSPLAN_getVar(stPosPlanHandle, VEND_Fwd, &gVendFwdButton);
}
if(STPOSPLAN_getStatus(stPosPlanHandle) != ST_PLAN_IDLE) {
  // Send the profile configuration to SpinTAC Position Profile Generator
  STPOSPLAN_getPositionStep_mrev(stPosPlanHandle, 
        (_iq24 *)&gMotorVars.PosStepInt_MRev, (_iq24 *)&gMotorVars.PosStepFrac_MRev);
  gMotorVars.MaxVel_krpm = _IQmpy(STPOSPLAN_getVelocityLimit(stPosPlanHandle),  
                                                        _IQ24(ST_SPEED_KRPM_PER_PU));
  gMotorVars.MaxAccel_krpmps =_IQmpy(STPOSPLAN_getAccelerationLimit(stPosPlanHandle),
                                                        _IQ24(ST_SPEED_KRPM_PER_PU));
  gMotorVars.MaxDecel_krpmps =_IQmpy(STPOSPLAN_getDecelerationLimit(stPosPlanHandle), 
                                                        _IQ24(ST_SPEED_KRPM_PER_PU));
  gMotorVars.MaxJrk_krpmps2 = _IQ20mpy(STPOSPLAN_getJerkLimit(stPosPlanHandle),
                                                        _IQ20(ST_SPEED_KRPM_PER_PU));
}
else {
  if(gPosPlanRunFlag == ST_PLAN_START
                                 && gMotorVars.SpinTAC.PosPlanRun == ST_PLAN_START)
  {
    gMotorVars.SpinTAC.PosPlanRun = ST_PLAN_STOP;
    gPosPlanRunFlag = gMotorVars.SpinTAC.PosPlanRun;
  }
}