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Battery voltage issue

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Hello, I am currently working on making a rc hotwheels car using arduino and nrf24l01+ module. I will be using a servo motor's board as esc for the back gear and a 3.7g servo motor for the front steering system. the front servo requires anywhere between 4.8-7.2v while the back servo board(which im using as esc) requires anywhere between 4.8 to 6v. The NRF24L01is a general 3.3v one(pcb antenna). I am stuck in:

  1. Deciding the board. I tried using arduino nano, but it is just a tad too big for this project. I cant seem to decide between the 2 pro mini (3.3v and 5v one ). Would also welcome suggestions for other arduino boards.
  2. Deciding the battery. The available batteries are of 3.7v ones, so i would need to either connect them in series or use a step up converter. Even if i connect them in series, i would need to regulate the voltage from 7.4v to 6(or 5)V. Would welcome some help regarding this

Some additional info:

  1. Cost is also an issue with me, as im limited to 10 dollars (for the board and battery combined)
  2. The size needs to be small as its going to be fitted inside a hotwheels car(road bandit)
  3. The servo motor used in making the esc is a generic tower pro model 9g

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