Add RPI PIO example for quadrature encoder.#6894

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sanyi wants to merge 3 commits intomicropython:masterfrom

Commits on Feb 13, 2021

Create pio_quadrature_encoder.py
sanyi
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Commits on Dec 28, 2021

Fixes missing import and botched refactoring
sanyi
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Commits on Dec 30, 2021

Cater for the case where another state change occurs while the ISR is running.
sanyi
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