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Espruino is a JavaScript interpreter for low-power Microcontrollers. This site is both a support community for Espruino and a place to share what you are working on.
@ClearMemory041063
The pimoroni link you cited points to this tutorial for Arduino. Looks like it uses ground and two digital input pins.
http://bildr.org/2012/08/rotary-encoder-arduino/
If needed you can examine the encoder module code that is located here.
http://www.espruino.com/modules/