Keeping to your plan with constant interruptions??

How do you balance Proactivity & making a plan & sticking to your plan while raising a family?? My husband works from home and I have four teenagers. It seems that no matter how great my planning is ahead of time, someone always needs something, has some Emergency or just wants to talk! Husband included. We all know that you can’t always schedule communicating with teenagers. Sometimes they are just in the mood, and if you are always going by your plan, you will miss those moments if you don’t take advantage of them. But, on the other hand, I feel like I never am able to stick to my plan because of this. How do you balance the two without becoming so rigid??