这应该在死循环之前的项目主函数中完成。这样会将所有的默认值加载到 SpinTAC 位置控制中。该步骤可通过运行已在 spintac_position.h 头文件中声明的函数 ST_init 和 ST_setupPosCtl 来完成。如果不希望使用这两个函数，可使用下方的代码示例配置 SpinTAC 位置控制组件。SpinTAC 位置控制配置是典型配置的代表，适用于大部分电机。

// Initialize SpinTAC Position Control
stPosCtlHandle = STPOSCTL_init(&stPosCtl, sizeof(stPosCtl));
// Setup the maximum current in PU
_iq maxCurrent_PU = _IQ(USER_MOTOR_MAX_CURRENT / USER_IQ_FULL_SCALE_CURRENT_A);
// Instance of the position controller
STPOSCTL_setAxis(stPosCtlHandle, ST_AXIS0);
// Sample time [s], (0, 1)
STPOSCTL_setSampleTime_sec(stPosCtlHandle, _IQ(ST_SAMPLE_TIME));
// System inertia upper (0, 127.9999] and lower (0, InertiaMax] limits [PU/(pu/s^2)]
STPOSCTL_setInertiaMaximums(stPosCtlHandle, _IQ(10.0), _IQ(0.001));
// System velocity limit (0, 1.0] [pu/s]
STPOSCTL_setVelocityMaximum(obj->;posCtlHandle, _IQ24(1.0));
// System control signal high (0, 1] & low [-1, 0) limits [PU]
STPOSCTL_setOutputMaximums(stPosCtlHandle, maxCurrent_PU, -maxCurrent_PU);
// System maximum (0, 1.0] and minimum [-1.0, 0) velocity [pu/s] 
STPOSCTL_setVelocityMaximums(stPosCtlHandle, _IQ(1.0), _IQ(-1.0));
// System maximum value for mechanical revolutions [MRev]
STPOSCTL_setPositionRolloverMaximum_mrev(stPosCtlHandle, _IQ24(ST_MREV_ROLLOVER));
// Sets the values used for converting between pu and MRev
STPOSCTL_setUnitConversion(stPosCtlHandle, USER_IQ_FULL_SCALE_FREQ_Hz,
                                                          USER_MOTOR_NUM_POLE_PAIRS);
// System maximum allowable error [MRev]
STPOSCTL_setPositionErrorMaximum_mrev(stPosCtlHandle,
                                                   _IQ24(ST_POS_ERROR_MAXIMUM_MREV));
// Disturbance type {true: Ramp; false: Square}
STPOSCTL_setRampDisturbanceFlag(stPosCtlHandle, false);
// System upper (0, 0.1/(cfg.T_sec*20)] and lower [0, BwScaleMax] limits for BWScale
STPOSCTL_setBandwidthScaleMaximums(stPosCtlHandle,
                                _IQ24((0.1) / (ST_SAMPLE_TIME * 20.0)), _IQ24(0.01));
// Enables the feedback filter
STPOSCTL_setFilterEnableFlag(stPosCtlHandle, true);
// System inertia [PU/(pu/s^2)], [InertiaMin, InertiaMax]
STPOSCTL_setInertia(stPosCtlHandle, _IQ(USER_MOTOR_INERTIA));
// Controller bandwidth scale [BwScaleMin, BwScaleMax]
STPOSCTL_setBandwidthScale(stPosCtlHandle, _IQ24(USER_SYSTEM_BANDWIDTH_SCALE));
// Initially ST_PosCtl is not enabled
STPOSCTL_setEnable(stPosCtlHandle, false);
// Initially ST_PosCtl is not in reset
STPOSCTL_setReset(stPosCtlHandle, false);