Using DutyCycleEncoder causes crash on `.get`

[pjreiniger]

We have a REV Through Bore Encoder that we wired into the roborio since we didn't have a Vortex breakout board. When using it with system core the robot code crashes when calling .get()

It gets constructed fine, and the SmartIO web ui shows that it got auto configured to be a PWM input and displayed seemingly sensical values when we rotated our pivot, but we could not read from the sensor in java.

7:49:35.658 PM
ERROR  1  The startCompetition() method (or methods called by it) should have handled the exception above.  edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:318) Warning  1  The robot program quit unexpectedly. This is usually due to a code error.
  The above stacktrace can help determine where the error occurred.
  See https://wpilib.org/stacktrace for more information.  edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:311) ERROR  1  Unhandled exception: edu.wpi.first.hal.util.HalHandleException:  Code: -1098. HAL: A handle parameter was passed incorrectly  com.gos.reefscape.subsystems.PivotSubsystem.getAbsoluteAngle(PivotSubsystem.java:184) 

[ThadHouse]

https://docs.wpilib.org/en/2027/docs/yearly-overview/known-issues.html#dutycycle-getoutput-crashes

Noted on the Known Issues page. And wpilibsuite/allwpilib#8040 has been opened to update the constructor to force passing in frequency.

For setAssumedFrequency, my ThroughBore is 968 Hz. Which is slightly different then the spec. Probably worth measuring yours.

[rzblue]

This is fixed by wpilibsuite/allwpilib#8076

[Kevin-OConnor]

Fix released in WPILib Alpha 2