How to control a DRV8266 motor controller with an ESP8266? https://github.com/sparkfun/SparkFun_MiniMoto_Arduino_Library/tree/V_1.1.0

Will this library work on an esp8266?   If not is there any way I can get this driver to work on the ESP?
No, since it uses AVR defines. Convert the code that uses these defines to the equivalent ESP8266 code instead.