DC motor control with absolute encoder

Hello guys I need to control R2D2 Dome. I have an absolute encoder and dc motor Motor Driver 1A Dual TB6612FNG using just 1 side arduino mega everything connected and working In my code I can read and print already digital values from the encoders but I need to count steps on 2 of them to have positioning.

I need a code example to positioning the dome where I want, also like when arduino start need to move the dome to the "Zero position". I am asking code example to understand how counting(positioning) works so a little bit of explanation is welcome Thanks

I need a code example to positioning the dome where I want,

And, we're supposed to know where that is?

also like when arduino start need to move the dome to the "Zero position".

So, what's the problem?

I am asking code example to understand how counting(positioning) works

What have you tried?

ok
please take a look at this photos:

on that gear it is mounted my absolute optical sensor, which has 2 encoders plus a third one to read a special dent as “ZERO POSITION”
how can I constantly read position with arduino using those encoders?(there are encoder’s pics too on that link).
Hope this is more clear
Thanks

Sorry this is the photo: https://www.facebook.com/photo.php?fbid=10151687084998808&set=a.10151687080623808.1073741825.808623807&type=3&theater