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Mark, nice going. Looking forward to see the cube both translate and rotate. A single LiPo cell should get you free from the breadboard & power supply. https://www.adafruit.com/category/574
Cut the female off of this extension (leaving 2 inches of cable) and solder to your board: https://www.adafruit.com/product/1131 Mates directly with your battery. Double stick foam tape will hold the board to the flat side of the battery.
Adafruit has chargers also that accept this JST-PH cable connector: https://www.adafruit.com/category/575
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