Port of the rotary module to ESP32 #428

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Run time

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Job	Run time
build (5.1, default, esp32)	2m 44s
build (5.1, default, esp32s2)	2m 49s
build (5.1, default, esp32s3)	2m 24s
build (5.1, default, esp32c3)	2m 41s
build (5.1, default, esp32c6)	2m 13s
build (5.1, default, esp32h2)	2m 18s
build (5.1, alternate, esp32)	2m 17s
build (5.1, alternate, esp32s2)	2m 22s
build (5.1, alternate, esp32s3)	2m 23s
build (5.1, alternate, esp32c3)	2m 43s
build (5.1, alternate, esp32c6)	2m 49s
build (5.1, alternate, esp32h2)	2m 15s
build (5.3, default, esp32)	2m 18s
build (5.3, default, esp32s2)	2m 14s
build (5.3, default, esp32s3)	2m 3s
build (5.3, default, esp32c3)	2m 10s
build (5.3, default, esp32c6)	1m 55s
build (5.3, default, esp32h2)	2m 9s
build (5.3, alternate, esp32)	2m 54s
build (5.3, alternate, esp32s2)	2m 21s
build (5.3, alternate, esp32s3)	2m 23s
build (5.3, alternate, esp32c3)	2m 15s
build (5.3, alternate, esp32c6)	2m 12s
build (5.3, alternate, esp32h2)	2m 14s
	57m 6s