Port of the rotary module to ESP32 #385

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Run time

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Job	Run time
build (5.1, default, esp32)	2m 11s
build (5.1, default, esp32s2)	2m 11s
build (5.1, default, esp32s3)	2m 15s
build (5.1, default, esp32c3)	2m 19s
build (5.1, alternate, esp32)	2m 45s
build (5.1, alternate, esp32s2)	2m 20s
build (5.1, alternate, esp32s3)	2m 14s
build (5.1, alternate, esp32c3)	2m 7s
build (5.3, default, esp32)	2m 18s
build (5.3, default, esp32s2)	2m 19s
build (5.3, default, esp32s3)	2m 14s
build (5.3, default, esp32c3)	2m 5s
build (5.3, alternate, esp32)	2m 21s
build (5.3, alternate, esp32s2)	2m 10s
build (5.3, alternate, esp32s3)	2m 23s
build (5.3, alternate, esp32c3)	2m 14s
	36m 26s