How to Connect Raspbery Pi Pico W to Home Assistant using MQTT

Im new to home assistant and was wondering how you connect your raspbery pi pico w to home assistant to be able to control devices connected to raspbey pi pico w such as servo motors. Would appreciate any help.

ESPHome now supports the pi pico w.

If you don’t use ESPhome, see MQTT - Home Assistant on how to interact with HA through MQTT.