You can most likely use the Arduino libraries, and follow the instructions that come with it. AFAICT the board works at 5V so you may need level shifters on the I/O wires.
The board appears to require four outputs, so the ESP01 is the wrong module for it. You may be able to make it work but won't have any I/O left other than its WiFi. Get a proper development board like the NodeMCU or WeMOS D1.