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Port of the rotary module to ESP32 #382

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Run time

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Job	Run time
build (5.1, default, esp32)	2m 43s
build (5.1, default, esp32s2)	2m 20s
build (5.1, default, esp32s3)	2m 13s
build (5.1, default, esp32c3)	2m 43s
build (5.1, alternate, esp32)	2m 15s
build (5.1, alternate, esp32s2)	2m 42s
build (5.1, alternate, esp32s3)	2m 42s
build (5.1, alternate, esp32c3)	2m 10s
build (5.3, default, esp32)	2m 25s
build (5.3, default, esp32s2)	2m 21s
build (5.3, default, esp32s3)	2m 21s
build (5.3, default, esp32c3)	2m 12s
build (5.3, alternate, esp32)	2m 26s
build (5.3, alternate, esp32s2)	2m 31s
build (5.3, alternate, esp32s3)	2m 21s
build (5.3, alternate, esp32c3)	2m 9s
	38m 34s