With the web API, you can only pull data at rest, meaning you'll need to sync your Sense to the Fitbit app before you can fetch the data. The endpoint you'd use to fetch this data is the Intraday Heart Rate Time Series endpoints. If you'd like to test this endpoint, you can do it with the Fitbit API Explorer. If you're looking to fetch real-time/raw data with 1sec detail level, you'll want to use the Device API and SDK to create a clock face. You can get further assistance from other developers and our moderators in the SDK forum here.
Retrieving data at rest and realtime data.