+#ifdef HOST_VERSION
+ rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
+ LEFT_ENCODER, IMP_COEF);
+ rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
+ RIGHT_ENCODER, IMP_COEF);
+#else
+ rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,