Not understand pin structure and Tunning issue

[ganeshpokale88]

    'encoder': {
        'left': [12, 16],
        'right': [20, 21]
    }

Not understand this pin connections, Please provide connection structure, Currently try with

'motor': {
        'left': [27, 22],
        'right': [23, 24]
    }

with only Int pins but unable to balance robot,