Code for ESP32 on Sensor PCB
Go to File > Preferences and under Addtional Boards Manager URLs copy this link: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
Next, go to Tools > Boards > Board Manager. Once loaded, type in the search bar esp32 and install espressif's esp32 library
You should now be able to upload to an ESP32. If you're having issues, make sure you the CP2102 USB driver installed on your device.
All Arduino libraries are listed in the /lib of the repo. Install them either through Sketch > Include Library > Manage Libraries and looking them up or by installing the zip file from each submodule and going to Sketch > Include Library > Add .ZIP library