Port of the rotary module to ESP32 (#3625) #429

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Run time

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Job	Run time
build (5.1, default, esp32)	2m 45s
build (5.1, default, esp32s2)	2m 30s
build (5.1, default, esp32s3)	2m 32s
build (5.1, default, esp32c3)	2m 35s
build (5.1, default, esp32c6)	2m 28s
build (5.1, default, esp32h2)	2m 37s
build (5.1, alternate, esp32)	2m 24s
build (5.1, alternate, esp32s2)	2m 30s
build (5.1, alternate, esp32s3)	2m 41s
build (5.1, alternate, esp32c3)	2m 14s
build (5.1, alternate, esp32c6)	2m 18s
build (5.1, alternate, esp32h2)	2m 24s
build (5.3, default, esp32)	2m 42s
build (5.3, default, esp32s2)	2m 14s
build (5.3, default, esp32s3)	2m 22s
build (5.3, default, esp32c3)	2m 34s
build (5.3, default, esp32c6)	2m 41s
build (5.3, default, esp32h2)	2m 3s
build (5.3, alternate, esp32)	2m 32s
build (5.3, alternate, esp32s2)	2m 30s
build (5.3, alternate, esp32s3)	2m 34s
build (5.3, alternate, esp32c3)	2m 16s
build (5.3, alternate, esp32c6)	2m 24s
build (5.3, alternate, esp32h2)	2m 24s
	59m 14s