[Al Skierkiewicz]

Scott,
Whine in these power supplies is normal although often very low in level. I have to ask what the LEDs on the DSC are doing. Are they all ON (qty 3) at the same brilliance? Does the RSL LED (the one on the DSC board next to the white RSL connector) flash when the robot is enabled? Is the 6 volt LED changing? This is usually metallic debris in the servo output connectors. Do you have any of the 6 volt jumpers installed on speed controller outputs? Do you have any relays connected? What do their LEDs look like?
If all of these appear normal, try removing all inputs and outputs from the DSC and then try installing them one at a time if the DSC appears normal with everything removed.