Looks like we got this one sorted via the email address on our contact page, but I’d like to add to this thread some info about which to pick:
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Most of the modes of this sensor should work with the Pico. I would suggest using mode 0 mainly because that’s the default mode and therefore the fastest to get up and running.
A Pico should have no trouble receiving the PWM output from this mode and soldering resistors onto the board seems like an unnecessary complication given the default mode should work just as well.