The BOOTSEL button on the Pico is not connected to a standard GPIO, so it cannot be read using the usual digitalRead function. It can, however, be read using a special (relatively slow) method.
The BOOTSEL object implements a simple way of reading the BOOTSEL button. Simply use the object BOOTSEL as a boolean (as a conditional in an if or while, or assigning to a bool):
// Print "BEEP" if the BOOTSEL button is pressed
if (BOOTSEL) {
Serial.println("BEEP!");
// Wait until BOOTSEL is released
while (BOOTSEL) {
delay(1);
}
}
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