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Port of the rotary module to ESP32 #381

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Run time

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Job	Run time
build (5.1, default, esp32)	2m 38s
build (5.1, default, esp32s2)	2m 16s
build (5.1, default, esp32s3)	2m 10s
build (5.1, default, esp32c3)	2m 30s
build (5.1, alternate, esp32)	2m 4s
build (5.1, alternate, esp32s2)	2m 37s
build (5.1, alternate, esp32s3)	2m 17s
build (5.1, alternate, esp32c3)	2m 38s
build (5.3, default, esp32)	2m 9s
build (5.3, default, esp32s2)	2m 19s
build (5.3, default, esp32s3)	2m 17s
build (5.3, default, esp32c3)	2m 1s
build (5.3, alternate, esp32)	2m 20s
build (5.3, alternate, esp32s2)	2m 8s
build (5.3, alternate, esp32s3)	2m 40s
build (5.3, alternate, esp32c3)	2m 1s
	37m 5s