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[hal, wpilib] Remove digital source from encoder #16520

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Run time

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Job	Run time
Validation	9s
Build - SystemCore	16m 8s
Build - Win64Debug	30m 47s
Build - Arm32	19m 54s
Build - Documentation	2m 3s
Build - Win64Release	15m 25s
Build - Arm64	19m 27s
Build - WinArm64Debug	22m 59s
Build - Linux	25m 49s
Build - WinArm64Release	13m 35s
Build - macOS	25m 44s
Build - Win64FFI	3m 22s
Combine	2s
dispatch (SmartDashboard)	3s
dispatch (PathWeaver)	3s
dispatch (Shuffleboard)	1s
dispatch (RobotBuilder)	2s
	3h 15m 33s