Power is distributed from a 16V battery using a custom made splitter that is run to a 5V regulator, a 15V regulator, as well as directly to the TINAH as it has a built in regulator. The 5V Regulator supplies power to the sensors and servos. While the 15V regulator supplies the wheel motors with power. The IR Circuit has it's 15V rail connected to the 15V regulator, but requires a separate negative rail in order for the Op-Amps in the circuit to work properly. This is provided by connecting another 16V Battery/two 8V batteries to the IR Circuit in order to create the negative rail. The lift motor as well as the encoders are powered by the TINAH directly.