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Powering Arduino and servos/motors with one supply

Helo, all

I tried to power Arduino (Duemilianove) and servos/motors it controlled with the same battery, but Arduino continuously restarted during the operation. Actually it was a surprise for me, since Arduino already has voltage regulator chip and filtering capacitors in the input circuits...

I solve this problem by supplying them with different batteries, but I don't like this solution. Could anyone help - how to provide single power supply?