As I'm sure you know, since your speed controller doesn't have a BEC,
you will need to supply separate 6V servo power via a battery pack OR
regulate your 7.2V pack to 6V for servos. I have done this with a 7806
Now for the DC motor part. Of course you will need a 12V battery pack.
The way I've done it is to use a PIC micro to convert the RC servo
pulse train to standard PWM using a C program that I wrote (which you
can have if you want it). The PIC's PWM output then goes to the MOSFET
H-bridge to drive the motor(s). Note that if you use a bipolar H-bridge
like the L293 or L298 you will need a higher voltage pack (like 13.2V)
to compensate for the 1.6V drop across the transistors.
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