- rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- LEFT_ENCODER, IMP_COEF * 1.0015);
- rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- RIGHT_ENCODER, IMP_COEF * -1.006);
+#ifdef HOST_VERSION
+ rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
+ LEFT_ENCODER, IMP_COEF * 1.);
+ rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
+ RIGHT_ENCODER, IMP_COEF * 1.);
+#else
+ rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
+ LEFT_ENCODER, IMP_COEF * -1.036);
+ rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
+ RIGHT_ENCODER, IMP_COEF * 1.037);
+#endif