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Install Home Assistant ESPHome and Visual Studio Code add-ons if you haven't installed it yet.
Using Visual Studio Code add-ons, navigate to the config/esphome folder. Copy folder custom-components and motionsensor.yaml on this folder.
Open ESPHome WebUI. You should see the motionsensor OFFLINE. If not try restarting HomeAssistant.
Click the 3 dot then install. Select Manual download > Modern Format. This should start compiling. Once it's done, it should automatically download a bin file.
Click the 3 dot again then Install. Select Manual download but this time click the Open ESPHome Web. Make sure you are using Chrome based broweser as Firefox doesn't support WebSerial.
Click Connect then select USB JTAG*** then click Connect.
Click Install > Choose File. Browse the bin downloaded before. Click Install button.
Wait for the installation to be completed.
The device will automatically restart and switch to AP mode. Using your mobile or your computer wifi, connect to the device configure the wifi. The device name should be MOTION SENSOR.
Once connected, it should automatically pop-up a window to select Wifi Router. If not, use any browser and visit http://192.168.4.1. Select your wifi router and enter the password and click save.
The device should restart again and should connect automatically to your router. From this point the Home Assistsant should automatically detect new devices. Just follow the instruction.