2S 1000mAh or 2S 6000mAh
Servos are controlled by a SSC-32 which is in turn controlled by a BotBoarduino which is controlled through an XBEE and programmed with an AVRISP MKII so I don't have to disconnect the XBEE.
12 HSR5990TG, 6 HS-485HB, and a HS-422 for the head