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Port of the rotary module to ESP32 #383

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Run time

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Job	Run time
build (5.1, default, esp32)	2m 14s
build (5.1, default, esp32s2)	2m 20s
build (5.1, default, esp32s3)	2m 19s
build (5.1, default, esp32c3)	2m 9s
build (5.1, alternate, esp32)	2m 16s
build (5.1, alternate, esp32s2)	2m 15s
build (5.1, alternate, esp32s3)	2m 49s
build (5.1, alternate, esp32c3)	2m 18s
build (5.3, default, esp32)	2m 18s
build (5.3, default, esp32s2)	2m 14s
build (5.3, default, esp32s3)	2m 20s
build (5.3, default, esp32c3)	2m 34s
build (5.3, alternate, esp32)	2m 49s
build (5.3, alternate, esp32s2)	2m 49s
build (5.3, alternate, esp32s3)	2m 43s
build (5.3, alternate, esp32c3)	2m 3s
	38m 30s