Follow the Pinouts table to make connections:

/dos_directory
          |---- CMakeLists.txt
          |---- /main
                   |----- CMakeLists.txt
                   |----- main.cpp

I would recommend writing your own code like I did. Here are some snippets from my code:

For a Linux setup - 

1) Navigate to project directory

cd dos_directory

2) Set ESP-IDF Environment (if not done already)

. $HOME/esp/esp-idf/export.sh

3) Set Target

idf.py build

 This will compile the code and create binary files.

1) Connect ESP32 via USB.

2) Flash:

idf.py -p /dev/ttyUSB0 flash

3) Replace /dev/ttyUSB0 with your port: 

- Linux: /dev/ttyUSB0 or /dev/ttyACM0

- macOS: /dev/cu.usbserial-XXXX

- Windows: COM3 (or whatever shows in Device Manager)

OR

Auto-detect port:

idf.py flash

 (ESP-IDF will try to auto-detect)

4) To see Log Output:

idf.py -p /dev/ttyUSB0 monitor

$ idf.py build flash monitor

# Just build:
$ idf.py build

# Just flash:
$ idf.py flash

# Just monitor:
$ idf.py monitor

# Clean build:
$ idf.py fullclean
$ idf.py build

# Erase flash completely:
$ idf.py erase-flash

It will start automatically every time you power on the ESP32.