Code to use with motor-shield-l293d

Hey, I’m confused about how to control 2 LEGO motors and 2 servos SpringRC SM-S4303R using the shield.

-What is the tension I have to use for feeding this shield?
-I’m capable of doing that using one battery of 1000 mah and 11.1 V?
-Suggestions of code’s I can use

Ty all people