I23 Serial: Configure the Zebra to do a position compare rotation scan

To do the serial experiment described in https://github.com/DiamondLightSource/mx-bluesky/issues/962. We need to configure the zebra to open the shutter and then trigger the pilatus once the shutter has been opened whilst doing a rotation scan. This should be the same as how we do a rotation scan on i03.

## Acceptance Criteria
- In setting up for i23 serial we configure the zebra to do a position compare and open the shutter and trigger the pilatus