Sofle Pico Firmware and programming
The RP2040 supports ‘drag and drop’ flashing with a UF2 file on Mac or PC.
After the first ‘drag and drop’ flash, you can tweak your keymaps further using VIA, VIAL, or the newer QMK Configurator.
Alternately, you can compile your own firmware using the source QMK.
The Sofle Pico is defaults to use the left hand as master. If you want to set right hand as master, you’ll need to add the recompile in QMK.