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This error pops up most commonly when you're using the wrong board support package. There are multiple support packages for the Pico, but only one is supported by the Gizmo Arduino library.

Can you confirm in the board manager that you have the Pi Pico board package form Earle Philhower installed? You can check this by opening the board manager, searching for "Earle", and making sure you see an entry like this with the option to remove it. (If you see "install" instead of "remove", you do not have the board package installed.)

You will also need to make sure you have selected the correct board when you compile the sketch. You can set this by selecting it from these menus:

Tools -> Board:…

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