[docs] Fix Doxygen warnings, add CI docs lint job (#3639)

The CI docs lint build is configured to fail on Doxygen warnings.

wpilibc/src/main/native/include/frc/simulation/DutyCycleEncoderSim.h

@@ -21,7 +21,7 @@ class DutyCycleEncoderSim {
   /**
    * Constructs from a DutyCycleEncoder object.
    *
-   * @param dutyCycleEncoder DutyCycleEncoder to simulate
+   * @param encoder DutyCycleEncoder to simulate
    */
   explicit DutyCycleEncoderSim(const DutyCycleEncoder& encoder);