Hello.
As stated in the announcement at the top of this forum, 9V batteries are not generally strong enough to drive motors. You will probably need something that can supply more current. If you want to get up to 9V, you could use 6 Alkaline AA batteries.
You don’t need to get three different voltages from the battery if you just power the Wixel using the VIN line, which can take voltages as high as 6.5 V.
I would probably power the motor directly off of the battery voltage and then find an appropriate regulator for the servos and Wixel that can produce 5 V or 6 V from the battery power. To choose a regulator, you will need to know the range of voltages going into it (which might be approximately 9 V for you), the desired voltage you want to get out of it (5-6 V), and the amount of current you will be drawing from the regulator. The Wixel will only take about 30 mA so the current draw will be dominated by your servo. A good rule of thumb is to have 1 A per servo. A bigger, more powerful servo would require more current. Once you know these three requirements, you should be able to select an appropriate step-down regulator from our website.
–David