Hooking up a peristaltic pump to an ESP32

Any guides out there for hooking up an iLube or peristaltic pump to an ESP32? I see guides for the Romeo but doesn’t help. Right now I just use one of those 6V battery boxes that take 4 AA and use the switch to turn the pump on/off as needed. Would rather set it up so it turns on for x seconds every x seconds.

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