I got the original demo with MPU6050 running on Lolin ESP32 with OLED.
Only this minimal set of changes is needed compared to github:
$ diff Rotatey_Balls.ino sketch_oct13a/sketch_oct13a.ino
18,19c18,19
< int sdaPin = 21;
< int sclPin = 22;
---
> int sdaPin = 5;
> int sclPin = 4;
$
$ diff mpu6050rotatey.h sketch_oct13a/mpu6050rotatey.h
42c42
< Wire.begin(21, 22);
---
> Wire.begin(sda, scl);
$
Connections:
6050 Lolin ESP32
VCC 3V3
GND GND
SCL 4
SDA 5
XDA nc
XCL nc
AD0 nc
INT 14
Short youtube video:
P.S.
I2cScanner from Arduino playground is helpful, for Lolin ESP32 this is the only change needed:
$ diff i2c_scanner.ino sketch_oct13b/sketch_oct13b.ino
35c35
< Wire.begin();
---
> Wire.begin(5,4);
$
The scanner detects the OLED (0x3C) as well as MPU6050 (0x68):
⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮⸮
I2C Scanner
Scanning...
I2C device found at address 0x3C !
I2C device found at address 0x68 !
done
Scanning...
...
P.P.S.
The same diff makes short MPU6050 example from Arduino Playground work:
$ diff mpu6050_test.ino sketch_oct13c/sketch_oct13c.ino
9c9
< Wire.begin();
---
> Wire.begin(5,4);
$