[EricVanWyk]

Sorry! The boost converters tend to whine when they get bored. It is completely normal, and there isn't a whole lot to do about it.

The boosts are significantly over-sized for running on the dining room table, because they are sized for running during a match with a low battery*. The downside of this beefiness is that the minimum load for continuous operation is a tad higher than what you are demanding of them. Therefore, they periodically shutdown and wait for the voltage to droop a bit before they turn back on and fill up the caps again. This on / off happens to fall exactly in the painful range of audio. For added fun, the actual frequency depends heavily on the load - erego the police siren effect! During normal (hard) operation, it runs at ~600kHz, well above human hearing. However, during normal (hard) operation, the sound would be drowned out by the noise of the motors and the crowd.

Gen2 is supposed to be slightly less screechy, but honestly it still isn't perfect. You could try drooping your battery or attaching a dummy load, but I won't make any promises.

* They are actually capable of supporting the cRIO and the router at about 3V in on the battery - a fourth of typical.