Rotary with Espruino Pico

Rotary → Pico
A → A1
B → A2
C → 3.3v

It is possible that you have to swap A1 and A2. It depends on the detents of the encoder. Then use the sample code of the encoder module:

var step = 0;
require("Encoder").connect(A1,A2,function (direction) {
      step += direction;
      print(step);
});