https://wiki.nhrl.io/wiki/api.php?action=feedcontributions&feedformat=atom&user=RemzakNHRL - User contributions [en]2026-06-12T13:46:29ZUser contributionsMediaWiki 1.41.1https://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24271Project LiftOff2026-05-10T15:45:11Z<p>Remzak: </p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship three times, in 2021, 2022, and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver controls the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
<br />
__NOTOC__<br />
<br />
{| class="wikitable sortable mw-collapsible" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive Motors || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Battery || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 3-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
== Design Philosophy ==<br />
<br />
Project Liftoff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform. In Revision 8, Project Liftoff gained the capability to use modular weapons, allowing mid-cutter, undercutter, and flying wedge configurations based on the desired weapon interaction with the opponent.[[File:Deterministic System.png|thumb|295x295px|Opposing orthogonal accelerometers create a deterministic system that can account for changes in the center of rotation and maintain an accurate RPM and heading despite changes to the bot's center of mass caused by battle damage.]]<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''Additional Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''Additional Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S 1300 to 2x 4S 650 mAh in parallel.<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 - Motor Durability is Kryptonite ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (SMEEEEEEEEEE) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 - Hubmotors deliver the win ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 - Jump from UHMW to TPU ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project Liftoff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 - The Breakthrough ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]Perhaps the golden era of Project Liftoff improvements and performance, Liftoff went on an absolute tear finishing 3rd in back to back November and World Championship events, with a combined record of 9 wins and 4 losses.<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — 2023, 2024, and 2025 - Incremental Improvements ===<br />
Project Liftoff only competed once in 2023 and once in 2024. Iterative shell changes were made during this period, but the bot was mostly unchanged from 2022. In 2025 the competition frequency picked up again, and the combination of a newly modular weapon system and software improvements resulted in Andrew returning from a three year driving hiatus to deliver a World Championship qualifying performance in November 2025.<br />
=== Rev 9 — 2026 - Software Refresh, Wheel Improvements ===<br />
New hybrid cleat/silicone wheels are intended to improve traction later in the match, after the cleats start to wear down.<br />
* '''Microcontroller:''' Teensy 4.0<br />
* '''Accelerometers:''' 2x H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' Bidirectional dShot600 via SPI manipulation @ 8000Hz<br />
* '''Motors / Drive:''' Propdrive 2836 1200kv Hubmotors<br />
* '''Weapon / Ring:''' Swappable mid-cutter, undercutter, and flying wedge configurations<br />
* '''Shell / Body:''' TPU<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. The first and only MeltyBrain to win an NHRL event.<br />
* '''December 2022''' '''— 3rd Place at NHRL World Championship'''<br />
* '''November 2025 — Fight of the Year vs Sir Slicey:''' Narrow judges decision loss in a brutal back and forth matchup.<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=cp2djzK6veE}}<br />
<br />
== Related Bots ==<br />
<br />
The Project Liftoff platform has spawned several derivatives and heavier siblings:<br />
<br />
* '''[[Flip-N-Cut]]''' — Derivative robot based on the flying wedge concept. Likely retired due to Project Liftoff modularity.<br />
* '''Sir Pops A Lot''' — 3lb derivative, precursor to Flip and Cut.<br />
* '''[[DeepMelt]]''' — Autonomous variant of the Project Liftoff platform.<br />
* Flip-N-Cut 12 — Team Liftoff's 12-pound MeltyBrain robot based on the flying wedge concept.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up two weight class.<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220" heights="220" mode="packed-hover"><br />
File:Index.php?title=File:Project Liftoff vs Komodo.webp|Project Liftoff vs Komodo<br />
File:Index.php?title=File:JCR Battle1.webp|Project Liftoff vs Lynx<br />
File:May 2026 Liftoff.jpg|Project Liftoff at May 2026 NHRL<br />
File:20221217 NHRL 5533dg.jpg|Team Liftoff at December 2022 NHRL<br />
File:Flipncut.jpg|FlipNCut<br />
File:Deepmelt.jpg|Deepmelt<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (SMEEEEEEEEEEEE) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24270Project LiftOff2026-05-10T03:58:54Z<p>Remzak: /* Gallery */</p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver controls the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
<br />
__NOTOC__<br />
<br />
{| class="wikitable sortable mw-collapsible" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
== Design Philosophy ==<br />
<br />
Project Liftoff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform. In Revision 8, Project Liftoff gained the capability to use modular weapons, allowing mid-cutter, undercutter, and flying wedge configurations based on the desired weapon interaction with the opponent.[[File:Deterministic System.png|thumb|295x295px|Opposing orthogonal accelerometers create a deterministic system that can account for changes in the center of rotation and maintain an accurate RPM and heading despite changes to the bot's center of mass caused by battle damage.]]<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. The first and only MeltyBrain to win an NHRL event.<br />
* '''December 2022''' '''— 3rd Place at NHRL World Championship'''<br />
* '''November 2025 — Fight of the Year vs Sir Slicey:''' Narrow judges decision loss in a brutal back and forth matchup.<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=cp2djzK6veE}}<br />
<br />
== Related Bots ==<br />
<br />
The Project Liftoff platform has spawned several derivatives and heavier siblings:<br />
<br />
* '''[[Flip-N-Cut]]''' — Derivative robot based on the flying wedge concept. Likely retired due to Project Liftoff modularity.<br />
* '''Sir Pops A Lot''' — 3lb derivative, precursor to Flip and Cut.<br />
* '''[[DeepMelt]]''' — Autonomous variant of the Project Liftoff platform.<br />
* Flip-N-Cut 12 — Team Liftoff's 12-pound MeltyBrain robot based on the flying wedge concept.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up two weight class.<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220" heights="220" mode="packed-hover"><br />
File:Index.php?title=File:Project Liftoff vs Komodo.webp|Project Liftoff vs Komodo<br />
File:Index.php?title=File:JCR Battle1.webp|Project Liftoff vs Lynx<br />
File:May 2026 Liftoff.jpg|Project Liftoff at May 2026 NHRL<br />
File:20221217 NHRL 5533dg.jpg|Team Liftoff at December 2022 NHRL<br />
File:Flipncut.jpg|FlipNCut<br />
File:Deepmelt.jpg|Deepmelt<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (SMEEEEEEEEEEEE) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24269Project LiftOff2026-05-10T03:56:35Z<p>Remzak: </p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver controls the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
<br />
__NOTOC__<br />
<br />
{| class="wikitable sortable mw-collapsible" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
== Design Philosophy ==<br />
<br />
Project Liftoff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform. In Revision 8, Project Liftoff gained the capability to use modular weapons, allowing mid-cutter, undercutter, and flying wedge configurations based on the desired weapon interaction with the opponent.[[File:Deterministic System.png|thumb|295x295px|Opposing orthogonal accelerometers create a deterministic system that can account for changes in the center of rotation and maintain an accurate RPM and heading despite changes to the bot's center of mass caused by battle damage.]]<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. The first and only MeltyBrain to win an NHRL event.<br />
* '''December 2022''' '''— 3rd Place at NHRL World Championship'''<br />
* '''November 2025 — Fight of the Year vs Sir Slicey:''' Narrow judges decision loss in a brutal back and forth matchup.<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=cp2djzK6veE}}<br />
<br />
== Related Bots ==<br />
<br />
The Project Liftoff platform has spawned several derivatives and heavier siblings:<br />
<br />
* '''[[Flip-N-Cut]]''' — Derivative robot based on the flying wedge concept. Likely retired due to Project Liftoff modularity.<br />
* '''Sir Pops A Lot''' — 3lb derivative, precursor to Flip and Cut.<br />
* '''[[DeepMelt]]''' — Autonomous variant of the Project Liftoff platform.<br />
* Flip-N-Cut 12 — Team Liftoff's 12-pound MeltyBrain robot based on the flying wedge concept.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up two weight class.<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220" heights="220" mode="packed-hover"><br />
File:Index.php?title=File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:Index.php?title=File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:Index.php?title=File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Index.php?title=File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Index.php?title=File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Index.php?title=File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:Index.php?title=File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Index.php?title=File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:Index.php?title=File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:Index.php?title=File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Index.php?title=File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Index.php?title=File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Index.php?title=File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Index.php?title=File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Index.php?title=File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
File:Project Liftoff vs Komodo.webp|Project Liftoff vs Komodo<br />
File:JCR Battle1.webp|Project Liftoff vs Lynx<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (SMEEEEEEEEEEEE) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24268Project LiftOff2026-05-10T03:55:48Z<p>Remzak: </p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver controls the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
[[File:20221217 NHRL 5533dg.jpg|left|thumb|932x932px|Team Liftoff battles in December 2022]]<br />
__NOTOC__<br />
<br />
{| class="wikitable sortable mw-collapsible mw-collapsed" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
[[File:Deterministic System.png|thumb|295x295px|Opposing orthogonal accelerometers create a deterministic system that can account for changes in the center of rotation and maintain an accurate RPM and heading despite changes to the bot's center of mass caused by battle damage.]]<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
== Design Philosophy ==<br />
<br />
Project Liftoff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform. In Revision 8, Project Liftoff gained the capability to use modular weapons, allowing mid-cutter, undercutter, and flying wedge configurations based on the desired weapon interaction with the opponent.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. The first and only MeltyBrain to win an NHRL event.<br />
* '''December 2022''' '''— 3rd Place at NHRL World Championship'''<br />
* '''November 2025 — Fight of the Year vs Sir Slicey:''' Narrow judges decision loss in a brutal back and forth matchup.<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=cp2djzK6veE}}<br />
<br />
== Related Bots ==<br />
<br />
The Project Liftoff platform has spawned several derivatives and heavier siblings:<br />
<br />
* '''[[Flip-N-Cut]]''' — Derivative robot based on the flying wedge concept. Likely retired due to Project Liftoff modularity.<br />
* '''Sir Pops A Lot''' — 3lb derivative, precursor to Flip and Cut.<br />
* '''[[DeepMelt]]''' — Autonomous variant of the Project Liftoff platform.<br />
* Flip-N-Cut 12 — Team Liftoff's 12-pound MeltyBrain robot based on the flying wedge concept.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up two weight class.<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220" heights="220" mode="packed-hover"><br />
File:Index.php?title=File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:Index.php?title=File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:Index.php?title=File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Index.php?title=File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Index.php?title=File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Index.php?title=File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:Index.php?title=File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Index.php?title=File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:Index.php?title=File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:Index.php?title=File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Index.php?title=File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Index.php?title=File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Index.php?title=File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Index.php?title=File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Index.php?title=File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
File:Project Liftoff vs Komodo.webp|Project Liftoff vs Komodo<br />
File:JCR Battle1.webp|Project Liftoff vs Lynx<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (SMEEEEEEEEEEEE) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24267Project LiftOff2026-05-10T03:55:15Z<p>Remzak: /* Gallery */</p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver controls the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
[[File:20221217 NHRL 5533dg.jpg|left|thumb|932x932px|Team Liftoff battles in December 2022]]<br />
__NOTOC__<br />
<br />
{| class="wikitable sortable mw-collapsible mw-collapsed" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
[[File:Deterministic System.png|thumb|295x295px|Opposing orthogonal accelerometers create a deterministic system that can account for changes in the center of rotation and maintain an accurate RPM and heading despite changes to the bot's center of mass caused by battle damage.]]<br />
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<br />
== Design Philosophy ==<br />
<br />
Project Liftoff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform. In Revision 8, Project Liftoff gained the capability to use modular weapons, allowing mid-cutter, undercutter, and flying wedge configurations based on the desired weapon interaction with the opponent.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. The first and only MeltyBrain to win an NHRL event.<br />
* '''December 2022''' '''— 3rd Place at NHRL World Championship'''<br />
* '''November 2025 — Fight of the Year vs Sir Slicey:''' Narrow judges decision loss in a brutal back and forth matchup.<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=cp2djzK6veE}}<br />
<br />
== Related Bots ==<br />
<br />
The Project Liftoff platform has spawned several derivatives and heavier siblings:<br />
<br />
* '''[[Flip-N-Cut]]''' — Derivative robot based on the flying wedge concept. Likely retired due to Project Liftoff modularity.<br />
* '''Sir Pops A Lot''' — 3lb derivative, precursor to Flip and Cut.<br />
* '''[[DeepMelt]]''' — Autonomous variant of the Project Liftoff platform.<br />
* Flip-N-Cut 12 — Team Liftoff's 12-pound MeltyBrain robot based on the flying wedge concept.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up two weight class.<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220" heights="220" mode="packed-hover"><br />
File:Index.php?title=File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:Index.php?title=File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:Index.php?title=File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Index.php?title=File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Index.php?title=File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Index.php?title=File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:Index.php?title=File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Index.php?title=File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:Index.php?title=File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:Index.php?title=File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Index.php?title=File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Index.php?title=File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Index.php?title=File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Index.php?title=File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Index.php?title=File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
File:Project Liftoff vs Komodo.webp|Project Liftoff vs Komodo<br />
File:JCR Battle1.webp|Project Liftoff vs Lynx<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (SMEEEEEEEEEEEE) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
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[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24266Project LiftOff2026-05-10T03:54:15Z<p>Remzak: </p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver controls the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
[[File:20221217 NHRL 5533dg.jpg|left|thumb|721x721px|Team Liftoff battles in December 2022]]<br />
__NOTOC__<br />
<br />
{| class="wikitable" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
[[File:Deterministic System.png|thumb|295x295px|Opposing orthogonal accelerometers create a deterministic system that can account for changes in the center of rotation and maintain an accurate RPM and heading despite changes to the bot's center of mass caused by battle damage.]]<br />
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== Design Philosophy ==<br />
<br />
Project Liftoff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform. In Revision 8, Project Liftoff gained the capability to use modular weapons, allowing mid-cutter, undercutter, and flying wedge configurations based on the desired weapon interaction with the opponent.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. The first and only MeltyBrain to win an NHRL event.<br />
* '''December 2022''' '''— 3rd Place at NHRL World Championship'''<br />
* '''November 2025 — Fight of the Year vs Sir Slicey:''' Narrow judges decision loss in a brutal back and forth matchup.<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=cp2djzK6veE}}<br />
<br />
== Related Bots ==<br />
<br />
The Project Liftoff platform has spawned several derivatives and heavier siblings:<br />
<br />
* '''[[Flip-N-Cut]]''' — Derivative robot based on the flying wedge concept. Likely retired due to Project Liftoff modularity.<br />
* '''Sir Pops A Lot''' — 3lb derivative, precursor to Flip and Cut.<br />
* '''[[DeepMelt]]''' — Autonomous variant of the Project Liftoff platform.<br />
* Flip-N-Cut 12 — Team Liftoff's 12-pound MeltyBrain robot based on the flying wedge concept.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up two weight class.<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220" heights="220" mode="packed-hover"><br />
File:Index.php?title=File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:Index.php?title=File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:Index.php?title=File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Index.php?title=File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Index.php?title=File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Index.php?title=File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:Index.php?title=File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Index.php?title=File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:Index.php?title=File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:Index.php?title=File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Index.php?title=File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Index.php?title=File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Index.php?title=File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Index.php?title=File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Index.php?title=File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
File:Project Liftoff vs Komodo.webp|Project Liftoff vs Komodo<br />
File:JCR Battle1.webp|Project Liftoff vs Lynx<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (SMEEEEEEEEEEEE) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
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[[index.php?title=Category:Meltybrain Spinners]]<br />
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[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
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[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24265Project LiftOff2026-05-10T03:53:55Z<p>Remzak: </p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver controls the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
[[File:20221217 NHRL 5533dg.jpg|left|thumb|736x736px|Team Liftoff battles in December 2022]]<br />
__NOTOC__<br />
<br />
{| class="wikitable" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
[[File:Deterministic System.png|thumb|295x295px|Opposing orthogonal accelerometers create a deterministic system that can account for changes in the center of rotation and maintain an accurate RPM and heading despite changes to the bot's center of mass caused by battle damage.]]<br />
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== Design Philosophy ==<br />
<br />
Project Liftoff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform. In Revision 8, Project Liftoff gained the capability to use modular weapons, allowing mid-cutter, undercutter, and flying wedge configurations based on the desired weapon interaction with the opponent.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. The first and only MeltyBrain to win an NHRL event.<br />
* '''December 2022''' '''— 3rd Place at NHRL World Championship'''<br />
* '''November 2025 — Fight of the Year vs Sir Slicey:''' Narrow judges decision loss in a brutal back and forth matchup.<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=cp2djzK6veE}}<br />
<br />
== Related Bots ==<br />
<br />
The Project Liftoff platform has spawned several derivatives and heavier siblings:<br />
<br />
* '''[[Flip-N-Cut]]''' — Derivative robot based on the flying wedge concept. Likely retired due to Project Liftoff modularity.<br />
* '''Sir Pops A Lot''' — 3lb derivative, precursor to Flip and Cut.<br />
* '''[[DeepMelt]]''' — Autonomous variant of the Project Liftoff platform.<br />
* Flip-N-Cut 12 — Team Liftoff's 12-pound MeltyBrain robot based on the flying wedge concept.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up two weight class.<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220" heights="220" mode="packed-hover"><br />
File:Index.php?title=File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:Index.php?title=File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:Index.php?title=File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Index.php?title=File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Index.php?title=File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Index.php?title=File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:Index.php?title=File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Index.php?title=File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:Index.php?title=File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:Index.php?title=File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Index.php?title=File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Index.php?title=File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Index.php?title=File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Index.php?title=File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Index.php?title=File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
File:Project Liftoff vs Komodo.webp|Project Liftoff vs Komodo<br />
File:JCR Battle1.webp|Project Liftoff vs Lynx<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (SMEEEEEEEEEEEE) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24264Project LiftOff2026-05-10T03:53:30Z<p>Remzak: /* Gallery */</p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver controls the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
[[File:20221217 NHRL 5533dg.jpg|left|thumb|731x731px|Team Liftoff battles in December 2022]]<br />
__NOTOC__<br />
<br />
{| class="wikitable" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
[[File:Deterministic System.png|thumb|295x295px|Opposing orthogonal accelerometers create a deterministic system that can account for changes in the center of rotation and maintain an accurate RPM and heading despite changes to the bot's center of mass caused by battle damage.]]<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
== Design Philosophy ==<br />
<br />
Project Liftoff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform. In Revision 8, Project Liftoff gained the capability to use modular weapons, allowing mid-cutter, undercutter, and flying wedge configurations based on the desired weapon interaction with the opponent.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. The first and only MeltyBrain to win an NHRL event.<br />
* '''December 2022''' '''— 3rd Place at NHRL World Championship'''<br />
* '''November 2025 — Fight of the Year vs Sir Slicey:''' Narrow judges decision loss in a brutal back and forth matchup.<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=cp2djzK6veE}}<br />
<br />
== Related Bots ==<br />
<br />
The Project Liftoff platform has spawned several derivatives and heavier siblings:<br />
<br />
* '''[[Flip-N-Cut]]''' — Derivative robot based on the flying wedge concept. Likely retired due to Project Liftoff modularity.<br />
* '''Sir Pops A Lot''' — 3lb derivative, precursor to Flip and Cut.<br />
* '''[[DeepMelt]]''' — Autonomous variant of the Project Liftoff platform.<br />
* Flip-N-Cut 12 — Team Liftoff's 12-pound MeltyBrain robot based on the flying wedge concept.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up two weight class.<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220" heights="220" mode="packed-hover"><br />
File:Index.php?title=File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:Index.php?title=File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:Index.php?title=File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Index.php?title=File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Index.php?title=File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Index.php?title=File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:Index.php?title=File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Index.php?title=File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:Index.php?title=File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:Index.php?title=File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Index.php?title=File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Index.php?title=File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Index.php?title=File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Index.php?title=File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Index.php?title=File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
File:Project Liftoff vs Komodo.webp|Project Liftoff vs Komodo<br />
File:JCR Battle1.webp|Project Liftoff vs Lynx<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (SMEEEEEEEEEEEE) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:20221217_NHRL_5533dg.jpg&diff=24263File:20221217 NHRL 5533dg.jpg2026-05-10T03:45:46Z<p>Remzak: </p>
<hr />
<div>Liftoff 2022</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:Deterministic_System.png&diff=24262File:Deterministic System.png2026-05-10T03:43:45Z<p>Remzak: </p>
<hr />
<div>Deterministic System</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:Project_Liftoff_vs_Komodo.webp&diff=24261File:Project Liftoff vs Komodo.webp2026-05-10T03:40:17Z<p>Remzak: </p>
<hr />
<div>Project Liftoff vs Komodo</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:JCR_Battle1.webp&diff=24260File:JCR Battle1.webp2026-05-10T03:39:05Z<p>Remzak: </p>
<hr />
<div>Project Liftoff November 25</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24259Project LiftOff2026-05-10T03:37:41Z<p>Remzak: </p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver flies the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
<br />
__NOTOC__<br />
<br />
{| class="wikitable" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
<br />
== Design Philosophy ==<br />
<br />
Project LiftOff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to CNC'd UHMW/HDPE or 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. The first and only MeltyBrain to win an NHRL event.<br />
* '''December 2022''' '''— 3rd Place at NHRL World Championship'''<br />
* '''November 2025 — Fight of the Year vs Sir Slicey:''' Narrow judges decision loss in a brutal back and forth matchup.<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=cp2djzK6veE}}<br />
<br />
== Related Bots ==<br />
<br />
The Project Liftoff platform has spawned several derivatives and heavier siblings:<br />
<br />
* '''[[Flip-N-Cut]]''' — Derivative robot based on the flying wedge concept. Likely retired due to Project Liftoff modularity.<br />
* '''Sir Pops A Lot''' — 3lb derivative, precursor to Flip and Cut.<br />
* '''[[DeepMelt]]''' — Autonomous variant of the Project Liftoff platform.<br />
* Flip-N-Cut 12 — Team Liftoff's 12-pound MeltyBrain robot based on the flying wedge concept.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up two weight class.<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220px" heights="220px" mode="packed-hover"><br />
File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Projectliftoff-removebg.png|April 2022 — Rev 6 (cutout)<br />
File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (SMEEEEEEEEEEEE) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24258Project LiftOff2026-05-10T03:35:19Z<p>Remzak: </p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver flies the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
<br />
__NOTOC__<br />
<br />
{| class="wikitable" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
<br />
== Design Philosophy ==<br />
<br />
Project LiftOff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to CNC'd UHMW/HDPE or 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. The first and only MeltyBrain to win an NHRL event.<br />
* '''December 2022''' '''— 3rd Place at NHRL World Championship'''<br />
* '''November 2025 — Fight of the Year vs Sir Slicey:''' Narrow judges decision loss in a brutal back and forth matchup.<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=cp2djzK6veE}}<br />
<br />
== Related Bots ==<br />
<br />
The Project Liftoff platform has spawned several derivatives and heavier siblings:<br />
<br />
* '''[[Flip-N-Cut]]''' — Derivative robot based on the flying wedge concept. Likely retired due to Project Liftoff modularity.<br />
* '''Sir Pops A Lot''' — 3lb derivative, precursor to Flip and Cut.<br />
* '''[[DeepMelt]]''' — Autonomous variant of the Project Liftoff platform.<br />
* Flip-N-Cut 12 — Team Liftoff's 12-pound MeltyBrain robot based on the flying wedge concept.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up two weight class.<br />
<br />
== Statistics ==<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220px" heights="220px" mode="packed-hover"><br />
File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Projectliftoff-removebg.png|April 2022 — Rev 6 (cutout)<br />
File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (SMEEEEEEEEEEEE) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24257Project LiftOff2026-05-10T03:31:29Z<p>Remzak: Continued Progress</p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver flies the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
<br />
__NOTOC__<br />
<br />
{| class="wikitable" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
<br />
== Design Philosophy ==<br />
<br />
Project LiftOff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to CNC'd UHMW/HDPE or 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. The first and only MeltyBrain to win an NHRL event.<br />
* '''December 2022''' '''— 3rd Place at NHRL World Championship'''<br />
* '''November 2025 — Fight of the Year vs Sir Slicey:''' Narrow judges decision loss in a brutal back and forth matchup.<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=cp2djzK6veE}}<br />
{{TODO: Add additional fight videos from 2023–2026 if desired, e.g.:}}<br />
{{TODO: {{#ev:youtube|VIDEO_URL}} }}<br />
<br />
== Related Bots ==<br />
<br />
The Project Liftoff platform has spawned several derivatives and heavier siblings:<br />
<br />
* '''[[Flip-N-Cut]]''' — Derivative robot based on the flying wedge concept. Likely retired due to Project Liftoff modularity.<br />
* '''Sir Pops A Lot''' — 3lb derivative, precursor to Flip and Cut.<br />
* '''[[DeepMelt]]''' — Autonomous variant of the Project Liftoff platform.<br />
* Flip-N-Cut 12 — Team Liftoff's 12-pound MeltyBrain robot based on the flying wedge concept.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up two weight class.<br />
<br />
== Statistics ==<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220px" heights="220px" mode="packed-hover"><br />
File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Projectliftoff-removebg.png|April 2022 — Rev 6 (cutout)<br />
File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (Smeeeeh) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
* {{TODO: Any additional acknowledgments?}}<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24256Project LiftOff2026-05-10T03:18:37Z<p>Remzak: </p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver flies the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
<br />
__NOTOC__<br />
<br />
{| class="wikitable" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
<br />
== Design Philosophy ==<br />
<br />
Project LiftOff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to CNC'd UHMW/HDPE or 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. First MeltyBrain to win an NHRL event.<br />
* '''November 2025 — Quarterfinals vs. [[Actual Size]]:''' a Primetime match in which Project LiftOff disabled Actual Size's weapon (the weapon gear was sheared off after weapon-on-weapon contact), advancing past the V3 build of Actual Size. Earlier in the same event, Project LiftOff also knocked out [[Colossus]], tearing off one of its wheels in the process.<br />
* {{TODO: Add 2023, 2024, and other 2025/2026 highlights — championships, notable KOs, milestone wins, etc.}}<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=v2oilmugmZw}}<br />
{{TODO: Add additional fight videos from 2023–2026 if desired, e.g.:}}<br />
{{TODO: {{#ev:youtube|VIDEO_URL}} }}<br />
<br />
== Related Bots ==<br />
<br />
The Project LiftOff platform has spawned several derivatives and a heavier sibling:<br />
<br />
* '''[[Flip-N-Cut]]''' — driver-controlled 3lb derivative (Rev 2.05, July 2020).<br />
* '''Sir Pops A Lot''' — 3lb derivative (Rev 1.15, August 2019).<br />
* '''[[DeepMelt]]''' — autonomous variant of the Project LiftOff platform.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up a weight class.<br />
* '''Minibot''' — 1lb titanium wedge with a TPU body, pictured below.<br />
<br />
[[File:PL Minibot.jpg|thumb|center|400px|Minibot — 1lb titanium wedge with TPU body]]<br />
<br />
== Statistics ==<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220px" heights="220px" mode="packed-hover"><br />
File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Projectliftoff-removebg.png|April 2022 — Rev 6 (cutout)<br />
File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (Smeeeeh) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
* {{TODO: Any additional acknowledgments?}}<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24255Project LiftOff2026-05-10T03:18:14Z<p>Remzak: </p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver flies the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
<br />
__TOC__<br />
<br />
{| class="wikitable" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
<br />
== Design Philosophy ==<br />
<br />
Project LiftOff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to CNC'd UHMW/HDPE or 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. First MeltyBrain to win an NHRL event.<br />
* '''November 2025 — Quarterfinals vs. [[Actual Size]]:''' a Primetime match in which Project LiftOff disabled Actual Size's weapon (the weapon gear was sheared off after weapon-on-weapon contact), advancing past the V3 build of Actual Size. Earlier in the same event, Project LiftOff also knocked out [[Colossus]], tearing off one of its wheels in the process.<br />
* {{TODO: Add 2023, 2024, and other 2025/2026 highlights — championships, notable KOs, milestone wins, etc.}}<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=v2oilmugmZw}}<br />
{{TODO: Add additional fight videos from 2023–2026 if desired, e.g.:}}<br />
{{TODO: {{#ev:youtube|VIDEO_URL}} }}<br />
<br />
== Related Bots ==<br />
<br />
The Project LiftOff platform has spawned several derivatives and a heavier sibling:<br />
<br />
* '''[[Flip-N-Cut]]''' — driver-controlled 3lb derivative (Rev 2.05, July 2020).<br />
* '''Sir Pops A Lot''' — 3lb derivative (Rev 1.15, August 2019).<br />
* '''[[DeepMelt]]''' — autonomous variant of the Project LiftOff platform.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up a weight class.<br />
* '''Minibot''' — 1lb titanium wedge with a TPU body, pictured below.<br />
<br />
[[File:PL Minibot.jpg|thumb|center|400px|Minibot — 1lb titanium wedge with TPU body]]<br />
<br />
== Statistics ==<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220px" heights="220px" mode="packed-hover"><br />
File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Projectliftoff-removebg.png|April 2022 — Rev 6 (cutout)<br />
File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (Smeeeeh) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
* {{TODO: Any additional acknowledgments?}}<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24254Project LiftOff2026-05-10T03:15:49Z<p>Remzak: Format Check</p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver flies the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
<br />
{| class="wikitable" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (Primary), [[Jim Kazmer]] (Alternate)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Meltybrain with Modular Tooth Configurations<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 550mAh LiPo in parallel<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievements || First MeltyBrain to win an NHRL event (Sept 2021), 2-time World Championship Qualifier, 3rd Place finish at 2022 World Championship<br />
|}<br />
<br />
== Design Philosophy ==<br />
<br />
Project LiftOff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to CNC'd UHMW/HDPE or 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. First MeltyBrain to win an NHRL event.<br />
* '''November 2025 — Quarterfinals vs. [[Actual Size]]:''' a Primetime match in which Project LiftOff disabled Actual Size's weapon (the weapon gear was sheared off after weapon-on-weapon contact), advancing past the V3 build of Actual Size. Earlier in the same event, Project LiftOff also knocked out [[Colossus]], tearing off one of its wheels in the process.<br />
* {{TODO: Add 2023, 2024, and other 2025/2026 highlights — championships, notable KOs, milestone wins, etc.}}<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=v2oilmugmZw}}<br />
{{TODO: Add additional fight videos from 2023–2026 if desired, e.g.:}}<br />
{{TODO: {{#ev:youtube|VIDEO_URL}} }}<br />
<br />
== Related Bots ==<br />
<br />
The Project LiftOff platform has spawned several derivatives and a heavier sibling:<br />
<br />
* '''[[Flip-N-Cut]]''' — driver-controlled 3lb derivative (Rev 2.05, July 2020).<br />
* '''Sir Pops A Lot''' — 3lb derivative (Rev 1.15, August 2019).<br />
* '''[[DeepMelt]]''' — autonomous variant of the Project LiftOff platform.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up a weight class.<br />
* '''Minibot''' — 1lb titanium wedge with a TPU body, pictured below.<br />
<br />
[[File:PL Minibot.jpg|thumb|center|400px|Minibot — 1lb titanium wedge with TPU body]]<br />
<br />
== Statistics ==<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220px" heights="220px" mode="packed-hover"><br />
File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Projectliftoff-removebg.png|April 2022 — Rev 6 (cutout)<br />
File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (Smeeeeh) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
* {{TODO: Any additional acknowledgments?}}<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24253Project LiftOff2026-05-10T03:10:04Z<p>Remzak: Saving progress...</p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:May 2026 Liftoff.jpg|thumb|618x618px|Project Liftoff from the May 2026 Event. A noteable upgrade is the hybrid cleat/molded wheel, which improves traction as the cleats wear down later in the match.]]<br />
'''Project Liftoff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and [[Jim Kazmer]] it has competed at NHRL every year since the league's inception in 2018-2019, and in 2021 became the '''first MeltyBrain to win an NHRL event'''. Project Liftoff has qualified for the NHRL Word Championship twice, in 2022 and 2025.<br />
<br />
As of May 2026, Project Liftoff is in its '''9th major design iteration.'''<br />
== Overview ==<br />
<br />
Unlike many early MeltyBrains, Project Liftoff does not use an IR beacon. Instead, it carries '''dual opposed 3-axis accelerometers''' mounted at 45 degrees relative to the axis of rotation. This accelerometer configuration creates a deterministic system, and allows the bot to adapt to changes in the center of rotation mid fight.<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver flies the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
<br />
{| class="wikitable" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (primary), [[Jim Kazmer]] (occasional)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || Full-body MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Symmetric dual-tooth AR500 ring (full-body spinner)<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 450mAh LiPo<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievement || First MeltyBrain to win an NHRL event (Sept 2021)<br />
|}<br />
<br />
== Design Philosophy ==<br />
<br />
Project LiftOff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to CNC'd UHMW/HDPE or 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. First MeltyBrain to win an NHRL event.<br />
* '''November 2025 — Quarterfinals vs. [[Actual Size]]:''' a Primetime match in which Project LiftOff disabled Actual Size's weapon (the weapon gear was sheared off after weapon-on-weapon contact), advancing past the V3 build of Actual Size. Earlier in the same event, Project LiftOff also knocked out [[Colossus]], tearing off one of its wheels in the process.<br />
* {{TODO: Add 2023, 2024, and other 2025/2026 highlights — championships, notable KOs, milestone wins, etc.}}<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=v2oilmugmZw}}<br />
{{TODO: Add additional fight videos from 2023–2026 if desired, e.g.:}}<br />
{{TODO: {{#ev:youtube|VIDEO_URL}} }}<br />
<br />
== Related Bots ==<br />
<br />
The Project LiftOff platform has spawned several derivatives and a heavier sibling:<br />
<br />
* '''[[Flip-N-Cut]]''' — driver-controlled 3lb derivative (Rev 2.05, July 2020).<br />
* '''Sir Pops A Lot''' — 3lb derivative (Rev 1.15, August 2019).<br />
* '''[[DeepMelt]]''' — autonomous variant of the Project LiftOff platform.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up a weight class.<br />
* '''Minibot''' — 1lb titanium wedge with a TPU body, pictured below.<br />
<br />
[[File:PL Minibot.jpg|thumb|center|400px|Minibot — 1lb titanium wedge with TPU body]]<br />
<br />
== Statistics ==<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths="220px" heights="220px" mode="packed-hover"><br />
File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Projectliftoff-removebg.png|April 2022 — Rev 6 (cutout)<br />
File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (Smeeeeh) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
* {{TODO: Any additional acknowledgments?}}<br />
<br />
[[index.php?title=Category:3lb Bots]]<br />
[[index.php?title=Category:US Robots]]<br />
[[index.php?title=Category:Meltybrain Spinners]]<br />
[[index.php?title=Category:NHRL 2018-19]]<br />
[[index.php?title=Category:NHRL 2020]]<br />
[[index.php?title=Category:NHRL 2021]]<br />
[[index.php?title=Category:NHRL 2022]]<br />
[[index.php?title=Category:NHRL 2023]]<br />
[[index.php?title=Category:NHRL 2024]]<br />
[[index.php?title=Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:May_2026_Liftoff.jpg&diff=24252File:May 2026 Liftoff.jpg2026-05-10T03:05:10Z<p>Remzak: </p>
<hr />
<div>Ti/Silicone Wheels</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Project_LiftOff&diff=24251Project LiftOff2026-05-10T02:50:23Z<p>Remzak: Macro Format Changes</p>
<hr />
<div>{{DISPLAYTITLE:Project LiftOff}}<br />
[[File:Projectliftoff Nov 2022.png|thumb|right|350px|Project LiftOff (Rev 6, November 2022)]]<br />
<br />
'''Project LiftOff''' is a 3lb [[:Category:Meltybrain Spinners|MeltyBrain]] — a robot that moves via translational drift while its '''entire body''' spins at 2,000–4,000 RPM. Built and driven by [[Andrew Kazmer]] and captained by [[Jim Kazmer]], it has competed at NHRL every year since the league's inception in 2018, and in 2021 became the '''first MeltyBrain to win an NHRL event'''.<br />
<br />
As of {{TODO: current month/year}}, Project LiftOff is in its '''9th design iteration'''.<br />
<br />
== Overview ==<br />
<br />
Unlike most MeltyBrains, Project LiftOff does '''not''' use an IR beacon. Instead, it carries '''dual onboard IR sensors''' that measure distance to objects in every direction. These are used by the driver-controlled versions (Project LiftOff and Flip-N-Cut) and are required by the autonomous variant ([[DeepMelt]]).<br />
<br />
Two pairs of directional LEDs (top/bottom and front/back) indicate orientation '''relative to the bot''' — not the arena. When properly tuned, these LEDs hold steady; they only shift as the bot ricochets off arena walls. The driver flies the bot relative to its "front" (the green LED), much like any conventional combat robot.<br />
<br />
{| class="wikitable" style="float:right; margin-left:1em; width: 35%;"<br />
|+ '''Robot Facts'''<br />
|-<br />
! Driver || [[Andrew Kazmer]] (primary), [[Jim Kazmer]] (occasional)<br />
|-<br />
! Team Captain || [[Jim Kazmer]]<br />
|-<br />
! Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
! Type || Full-body MeltyBrain Spinner<br />
|-<br />
! Body Material || TPU shell, AR500 weapon ring<br />
|-<br />
! Weapon || Symmetric dual-tooth AR500 ring (full-body spinner)<br />
|-<br />
! Drive || 2× PropDrive 2836 1200kv hub motors, 1.55" titanium "cleat" wheels<br />
|-<br />
! Power || 2× 4S 450mAh LiPo<br />
|-<br />
! Spin Rate || 2,000–4,000 RPM<br />
|-<br />
! First Event || March 2019 NHRL<br />
|-<br />
! Notable Achievement || First MeltyBrain to win an NHRL event (Sept 2021)<br />
|}<br />
<br />
== Design Philosophy ==<br />
<br />
Project LiftOff has used several laser- or waterjet-cut '''AR500 steel rings''' as its weapon throughout its lifetime. These rings are sandwiched or otherwise mounted to CNC'd UHMW/HDPE or 3D-printed TPU bodies that house the primary electronics and battery. This construction has proven both durable and remarkably adaptable — it has allowed the design to evolve significantly across nine revisions while preserving the core platform.<br />
<br />
== Revision History ==<br />
<br />
=== Rev 1.0 — March 2019 ===<br />
[[File:Project Liftoff a March-2019.jpg|thumb|right|Project LiftOff — March 2019 (Rev 1.0)]]<br />
First appearance, at the March 2019 NHRL event. The original weapon was an 8" diameter aluminum pipe cut into two ½" thick slices with a notch for an AR500 tooth (two bolt holes).<br />
* '''Processor:''' Arduino Nano<br />
* '''Accelerometer:''' MPU-6050 (±16g, 12-bit)<br />
* '''Receiver Interface:''' standard RC-PWM into UART<br />
* '''Motor Control:''' OneShot125 via PWM manipulation @ ~800Hz<br />
* '''External Sensors:''' none<br />
<br />
=== Rev 1.1 — May 2019 ===<br />
[[File:Project LiftOff b May-2019.jpg|thumb|right|Project LiftOff — May 2019 (Rev 1.1)]]<br />
Switched from 8" aluminum rings to a 9" AR500 ring with a single tooth (and hand-cut HDPE body). The pointed AR500 tooth proved too aggressive — it became embedded in the arena wall on multiple occasions.<br />
<br />
=== Rev 1.2 — August 2019 ===<br />
[[File:Project LiftOff c Aug-2019.jpg|thumb|right|Project LiftOff — August 2019 (Rev 1.2)]]<br />
Refinements to the body and weapon ring profile.<br />
<br />
''Derivative: '''Sir Pops A Lot''' (Rev 1.15, August 2019) — pictured below.''<br />
[[File:Project LiftOff d2 Sir Pops Alot Aug-2019.jpg|thumb|right|Sir Pops A Lot derivative — August 2019 (Rev 1.15)]]<br />
<br />
=== Rev 2.0 — 2020 ===<br />
[[File:Project Liftoff July-2020.jpg|thumb|right|Project LiftOff — July 2020 (Rev 2.0)]]<br />
Major electronics overhaul. The MPU-6050 accelerometer was retired in favor of motor eRPM telemetry from the ESCs via bidirectional dShot.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' none — used motor eRPM telemetry<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Body:''' CNC'd HDPE<br />
* '''Weapon:''' new 8" AR500 ring with a more blunt tooth profile<br />
<br />
''Derivative: '''Flip-N-Cut''' (Rev 2.05, July 2020).''<br />
[[File:Project LiftOff f Flip n Cut July-2020.jpg|thumb|right|Flip-N-Cut derivative — July 2020 (Rev 2.05)]]<br />
<br />
=== Rev 2.1 — September 2020 ===<br />
[[File:Project LiftOff g Sept-2020.jpg|thumb|right|Project LiftOff — September 2020 (Rev 2.1)]]<br />
Iterative refinements to the Rev 2.0 platform.<br />
<br />
=== Rev 3 — 2021 ===<br />
[[File:PXL 20210320 135444503.jpg|thumb|right|Project LiftOff — March 2021 (Rev 3.0)]]<br />
Same electronics as Rev 2, with an improved algorithm, revised wheel orientation, and a return to a dedicated accelerometer.<br />
* '''Processor:''' Teensy 4.0<br />
* '''Accelerometer:''' H3LIS331DL (±400g, 16-bit)<br />
* '''Receiver Interface:''' RC-SBUS into UART<br />
* '''Motor Control:''' dShot600 via SPI manipulation @ 8000Hz<br />
* '''External Sensors:''' active IR<br />
* '''Battery:''' upgraded from 3S to 4S<br />
* '''Construction:''' new "motor pod" sandwiched by two clamshell HDPE halves<br />
* Wheels placed inline with the weapon tooth (later reverted)<br />
* Algorithm simplification<br />
<br />
=== Rev 4 — May / July 2021 ===<br />
The hunt for a more durable motor.<br />
* '''May 2021:''' custom motor with internal thrust bearing using "no-name" stators (the thrust bearing still failed by the third fight).<br />
* '''July 2021:''' thrust bearing fitted inside a PropDrive motor by combining a PD-2826 stator with a PD-2830 motor can. (The same trick works with a PD-2830 stator and a PD-2836 can — the PD-2836 is really a 2834.) This sacrificed power for durability; the new failure points became the set screws and motor axle.<br />
* Wheel axis returned to 90° from the weapon (inline wheels worsened "hockey-pucking").<br />
* Weight distribution made fully symmetric: instead of a heavy counter-balance opposite a single tooth (which sent the chassis flying when the tooth stopped on impact), the design moved to '''two symmetric weapon teeth'''.<br />
* Body changed to a full-round HDPE shell (re-designed and re-cut).<br />
* Weapon ring made narrower to offset the heavier shell, with bolt holes removed to maximize strength.<br />
* '''First titanium wheels.''' Thanks to Joe Fabbiani (Smeeeeh) and Calvin Iba (Lynx) for sharing the idea.<br />
<br />
=== Rev 5 — September 2021 ===<br />
[[File:Project Liftoff - September 2021 (rev 5.0).jpg|thumb|right|Project LiftOff — September 2021 (Rev 5.0). The bot went on to '''win the 3lb division undefeated''', with 4 KOs and 3 judges' decisions.]]<br />
[[File:Annotated Project LiftOff Internals.jpg|thumb|right|Annotated Sept-2021 internals. Accelerometer and RC receiver are on the underside of the PCB.]]<br />
The breakout revision. Project LiftOff went '''undefeated''' at the September 2021 NHRL event, winning the 3lb division with 4 KOs and 3 judges' decisions — and becoming the first MeltyBrain to win an NHRL event.<br />
<br />
* '''Motor:''' upgraded to PropDrive 2836 for more power.<br />
* '''Hub Motor design:'''<br />
** 6mm dead axle<br />
** Two 626 bearings (1,000+ lb dynamic load)<br />
** Custom-machined aluminum inner (motor can) and outer (wheel) hubs, done on a home CNC at 0.2mm layer height<br />
** Titanium wheels via SendCutSend<br />
** No more set-screw failures<br />
** Thanks to Brian Boxell (Eruption) for hub-motor guidance.<br />
* '''Weapon ring redesign:''' same 0.25" AR500, sourced via SendCutSend. Reduced from 326g (near-full circle) to 241g (near-rectangular). No bolt holes; tapered through the middle.<br />
* HDPE shell redesigned to match.<br />
<br />
==== Known Rev 5 issues (carried into Nov 2021) ====<br />
* Aluminum CNC mistakes (over-clamping, double-sided alignment) caused slight defects in the motor hubs, leading to Hub Motor misalignment, friction, and lost power.<br />
* The bot was never properly software-tuned at the November event — hardware fixes ran until midnight Friday, controls were upside-down and backwards all of Saturday, and IR object/wall detection was unusable due to misalignment.<br />
<br />
=== Rev 6 — February 2022 ===<br />
[[File:LiftoffTPU.jpg|thumb|right|Project LiftOff — February 2022 (Rev 6.0), pictured before Motorama Robot Conflict]]<br />
[[File:MotoramaTPU.jpg|thumb|right|Project LiftOff — side profile (Rev 6.0)]]<br />
After failures during the December 2021 finals, UHMW and HDPE were retired as shell materials — both proved too prone to failure around the metal ring.<br />
* '''Shell:''' 3D-printed in TPU.<br />
* '''Battery:''' smaller packs.<br />
* '''New AR500 weapon options:''' a long-reach weapon made of stacked ⅛" AR500 (welded), via SendCutSend. Lets Project LiftOff play the reach game against other horizontals and keeps big-wheel bots away from the chassis. Structural integrity of the welds is questionable.<br />
* '''New PCB iteration:''' smaller, lighter, smarter component layout. Bluetooth telemetry to remote external devices (battery, temperature, speed) — functional but requires an add-on board that's tight to fit in 3 lbs.<br />
<br />
=== Rev 7 — Sept / Nov / December 2022 ===<br />
[[File:Projectliftoff 3lb Sept22.png|thumb|right|Project LiftOff at NHRL September 2022 (Rev 7)]]<br />
* Shell layout reworked so the hub motors could be rotated with the wheels facing '''outward''' instead of inward — a better effective gear ratio, trading top speed for spin-up torque.<br />
* New PCB layout supporting multiple accelerometers, fewer parts, and improved component selection.<br />
* Better-machined inner/outer hubs.<br />
* Thinner titanium wheels.<br />
* Software improvements for cleaner drifting.<br />
* '''First revision of autonomous software.'''<br />
<br />
=== Rev 8 — {{TODO: timeframe (year/event)}} ===<br />
{{TODO: Describe Rev 8 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
=== Rev 9 — {{TODO: timeframe (year/event)}} (current) ===<br />
{{TODO: Describe Rev 9 changes. Suggested bullets to fill in:}}<br />
* '''Electronics / PCB:''' {{TODO}}<br />
* '''Motors / Drive:''' {{TODO}}<br />
* '''Weapon / Ring:''' {{TODO}}<br />
* '''Shell / Body:''' {{TODO}}<br />
* '''Software:''' {{TODO}}<br />
* '''Other:''' {{TODO}}<br />
<br />
== Notable Fights ==<br />
<br />
=== Career Highlights ===<br />
* '''September 2021 — NHRL 3lb Champion (undefeated):''' 4 KOs, 3 judges' decisions. First MeltyBrain to win an NHRL event.<br />
* '''November 2025 — Quarterfinals vs. [[Actual Size]]:''' a Primetime match in which Project LiftOff disabled Actual Size's weapon (the weapon gear was sheared off after weapon-on-weapon contact), advancing past the V3 build of Actual Size. Earlier in the same event, Project LiftOff also knocked out [[Colossus]], tearing off one of its wheels in the process.<br />
* {{TODO: Add 2023, 2024, and other 2025/2026 highlights — championships, notable KOs, milestone wins, etc.}}<br />
<br />
=== Featured Match ===<br />
{{#ev:youtube|https://www.youtube.com/watch?v=v2oilmugmZw}}<br />
{{TODO: Add additional fight videos from 2023–2026 if desired, e.g.:}}<br />
{{TODO: {{#ev:youtube|VIDEO_URL}} }}<br />
<br />
== Related Bots ==<br />
<br />
The Project LiftOff platform has spawned several derivatives and a heavier sibling:<br />
<br />
* '''[[Flip-N-Cut]]''' — driver-controlled 3lb derivative (Rev 2.05, July 2020).<br />
* '''Sir Pops A Lot''' — 3lb derivative (Rev 1.15, August 2019).<br />
* '''[[DeepMelt]]''' — autonomous variant of the Project LiftOff platform.<br />
* '''[[Project LiftOff-30]]''' — 30lb sibling, scaling the same MeltyBrain design philosophy up a weight class.<br />
* '''Minibot''' — 1lb titanium wedge with a TPU body, pictured below.<br />
<br />
[[File:PL Minibot.jpg|thumb|center|400px|Minibot — 1lb titanium wedge with TPU body]]<br />
<br />
== Statistics ==<br />
<br />
{{Bot Stats|bot=Project_LiftOff|class=3lb}}<br />
<br />
== Gallery ==<br />
<br />
<gallery widths=220px heights=220px mode="packed-hover"><br />
File:Project Liftoff March-2019.jpg|March 2019 — Rev 1.0<br />
File:DSC01159.jpg|May 2019 — Rev 1.1<br />
File:DSC01257.jpg|August 2019 — Rev 1.2<br />
File:Project Liftoff.jpg|July 2020 — Rev 2.0<br />
File:Project LiftOff e July-2020.jpg|July 2020 — Rev 2.0 (alt view)<br />
File:Project Liftoff Sept-2020.jpg|September 2020 — Rev 2.1<br />
File:PXL 20210320 135444504.jpg|March 2021 — Rev 3.0<br />
File:Project Liftoff - September 2021 (rev 5.0).jpg|September 2021 — Rev 5.0 (NHRL Champion)<br />
File:LiftoffTPU.jpg|February 2022 — Rev 6.0<br />
File:MotoramaTPU.jpg|February 2022 — Rev 6.0 (side profile)<br />
File:Project Liftoff.png|April 2022 — Rev 6<br />
File:Projectliftoff-removebg.png|April 2022 — Rev 6 (cutout)<br />
File:Projectliftoff 3lb Sept22.png|September 2022 — Rev 7<br />
File:Projectliftoff Nov 2022.png|November 2022 — Rev 7<br />
File:Annotated Project LiftOff Internals.jpg|Annotated Sept 2021 internals<br />
File:Competitors 1.jpg|Andrew and Jim Kazmer — November 2022<br />
{{TODO: Add 2023–2026 photos here, e.g.}}<br />
{{TODO: File:YourImageName.jpg|YYYY — Rev N}}<br />
</gallery><br />
<br />
== Acknowledgments ==<br />
<br />
The Project LiftOff team would like to thank:<br />
* '''Joe Fabbiani''' (Smeeeeh) and '''Calvin Iba''' ([[Lynx]]) — for sharing the titanium-wheel concept (Rev 4).<br />
* '''Brian Boxell''' ([[Eruption]]) — for direction and encouragement on the hub-motor design (Rev 5).<br />
* {{TODO: Any additional acknowledgments?}}<br />
<br />
[[Category:3lb Bots]]<br />
[[Category:US Robots]]<br />
[[Category:Meltybrain Spinners]]<br />
[[Category:NHRL 2018-19]]<br />
[[Category:NHRL 2020]]<br />
[[Category:NHRL 2021]]<br />
[[Category:NHRL 2022]]<br />
[[Category:NHRL 2023]]<br />
[[Category:NHRL 2024]]<br />
[[Category:NHRL 2025]]<br />
[[Category:NHRL 2026]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Flip-N-Cut_12&diff=11288Flip-N-Cut 122023-09-17T14:38:24Z<p>Remzak: </p>
<hr />
<div><br />
===Robot Facts===<br />
[[File:Flipncut12-removebg.png|alt=Flip-N-Cut_12|thumb|Flip-N-Cut_12]]<br />
{| class="wikitable" style="width: 60%"<br />
|-<br />
|Builder||Jim Kazmer<br />
|-<br />
|Driver||Jim Kazmer<br />
|-<br />
|Weight Class||[[12lb Weight Class|12lb]]<br />
|-<br />
|Body Material||TPU<br />
|-<br />
|Weapon||Meltybrain<br />
|-<br />
|Weapon Drive||(TBA)<br />
|-<br />
|Drive||2wd<br />
|-<br />
|Power||(TBA)<br />
|}<br />
<br />
{{Bot Stats|bot=Flip-N-Cut_12|class=12lb}}<br />
<br />
==Select Fights==<br />
Video links Coming Soon!<br />
==Gallery==<br />
Images coming soon!</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Flip-N-Cut_12&diff=11287Flip-N-Cut 122023-09-17T14:38:05Z<p>Remzak: </p>
<hr />
<div><br />
===Robot Facts===<br />
[[File:Flipncut12-removebg.png|alt=Flip-N-Cut_12|thumb|Flip-N-Cut_12]]<br />
{| class="wikitable" style="width: 60%"<br />
|-<br />
|Builder||Jim Kazmer<br />
|-<br />
|Driver||Jim Kazmer<br />
|-<br />
|Weight Class||[[12lb Weight Class|12lb]]<br />
|-<br />
|Body Material||TPU<br />
|-<br />
|Weapon||Meltybrain<br />
|-<br />
|Weapon Drive||(TBA)<br />
|-<br />
|Drive||2wd<br />
|-<br />
|Power||(TBA)<br />
||<br />
{{Bot Stats|bot=Flip-N-Cut_12|class=12lb}}<br />
<br />
==Select Fights==<br />
Video links Coming Soon!<br />
==Gallery==<br />
Images coming soon!</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Flip-N-Cut_12&diff=11286Flip-N-Cut 122023-09-17T14:37:43Z<p>Remzak: </p>
<hr />
<div><br />
===Robot Facts===<br />
[[File:Flipncut12-removebg.png|alt=Flip-N-Cut_12|thumb|Flip-N-Cut_12]]<br />
{| class="wikitable" style="width: 60%"<br />
|-<br />
|Builder||Jim Kazmer<br />
|-<br />
|Driver||Jim Kazmer<br />
|-<br />
|Weight Class||[[12lb Weight Class|12lb]]<br />
|-<br />
|Body Material||TPU<br />
|-<br />
|Weapon||Meltybrain<br />
|-<br />
|Weapon Drive||(TBA)<br />
|-<br />
|Drive||2wd<br />
|-<br />
|Power||(TBA)<br />
<br />
{{Bot Stats|bot=Flip-N-Cut_12|class=12lb}}<br />
<br />
==Select Fights==<br />
Video links Coming Soon!<br />
==Gallery==<br />
Images coming soon!</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Plyohazard&diff=8303Plyohazard2023-04-10T00:21:17Z<p>Remzak: extra picture</p>
<hr />
<div>[[File:December.jpg|thumb|4-Bar Lifter Variant]]<br />
[[File:Lift.png|thumb|A successful lift flips Phenomenon against the rail]]<br />
[[File:Arena Plyo.jpg|thumb|Plyohazard in September 2022 before it's match with Helios]]<br />
[[File:Burn Baby Burn.jpg|thumb|PYROHAZARD]]<br />
[[File:Flamethrower CAD.png|thumb|Flamethrower module CAD]]<br />
<br />
===Robot Facts===<br />
{| class="wikitable" style="width: 60%"<br />
|-<br />
| Driver || Andrew Kazmer<br />
|-<br />
| Weight Class ||[[30lb Weight Class|30lb]]<br />
|-<br />
| Body Material || Wood, AR500, Titanium, HDPE, TPU<br />
|-<br />
| Weapon || Twin Vertical, Flamethrower, Angle Grinder<br />
|-<br />
| Weapon Drive || 1/8 Scale Trackstar 2025kv, Butane<br />
|-<br />
| Drive || Emax 5335 with 5:1 timing belt reduction to 5" Colson Wheel<br />
|-<br />
| Power || 6S 3300mAh LiPo<br />
|}<br />
<br />
=== '''Description''' ===<br />
Plyohazard is a Featherweight (30lb) robot initially built as a joke robot. <br />
<br />
The first revision was entirely pine wood, with a welded mild steel wedge. Revision 2 was intended to be the minimum viable product to qualify for the December Finals. The bot was entirely made from 0.1" and 0.187" AR500 panels cut by SendCutSend and welded or nutstrip'd together. The bot used single stage belt reduction for both the drive and weapon, and had two vertical weapons that were swappable between a hammer spinner and a framing saw. The front wedge was 0.25" AR500. The bot kept the wood theme, and used faux wood decals to fake it's construction method. This bot was fun, but not very competitive. Repairs on this bot kept it running until September 2022, where it competed as a flamethrower and again qualified for the December finals.[[File:PXL 20210515 142919586.jpg|alt=|thumb|Plyohazard V2]][[File:Plyohazard (1).jpg|thumb|Plyohazard V1]]<br />
Revision 3 was a 4-bar lifter, which debuted at the December finals. It went 2-2 in it's first event, with a notable win over Phenomenon.{{Bot Stats|bot=Plyohazard|class=30lb}}<br />
<br />
== Select Fights ==<br />
Video links coming soon!<br />
<br />
<br />
[[Category:30lb Bots]][[Category:NHRL 2021]][[Category:NHRL 2022]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:Lift.png&diff=8302File:Lift.png2023-04-10T00:19:38Z<p>Remzak: </p>
<hr />
<div>A successful lift flips Phenomenon against the rail</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Plyohazard&diff=8301Plyohazard2023-04-10T00:13:32Z<p>Remzak: December updates</p>
<hr />
<div>[[File:December.jpg|thumb|4-Bar Lifter Variant]]<br />
[[File:Arena Plyo.jpg|thumb|Plyohazard in September 2022 before it's match with Helios]]<br />
[[File:Burn Baby Burn.jpg|thumb|PYROHAZARD]]<br />
[[File:Flamethrower CAD.png|thumb|Flamethrower module CAD]]<br />
<br />
===Robot Facts===<br />
{| class="wikitable" style="width: 60%"<br />
|-<br />
| Driver || Andrew Kazmer<br />
|-<br />
| Weight Class ||[[30lb Weight Class|30lb]]<br />
|-<br />
| Body Material || Wood, AR500, Titanium, HDPE, TPU<br />
|-<br />
| Weapon || Twin Vertical, Flamethrower, Angle Grinder<br />
|-<br />
| Weapon Drive || 1/8 Scale Trackstar 2025kv, Butane<br />
|-<br />
| Drive || Emax 5335 with 5:1 timing belt reduction to 5" Colson Wheel<br />
|-<br />
| Power || 6S 3300mAh LiPo<br />
|}<br />
<br />
=== '''Description''' ===<br />
Plyohazard is a Featherweight (30lb) robot initially built as a joke robot. <br />
<br />
The first revision was entirely pine wood, with a welded mild steel wedge. Revision 2 was intended to be the minimum viable product to qualify for the December Finals. The bot was entirely made from 0.1" and 0.187" AR500 panels cut by SendCutSend and welded or nutstrip'd together. The bot used single stage belt reduction for both the drive and weapon, and had two vertical weapons that were swappable between a hammer spinner and a framing saw. The front wedge was 0.25" AR500. The bot kept the wood theme, and used faux wood decals to fake it's construction method. This bot was fun, but not very competitive. Repairs on this bot kept it running until September 2022, where it competed as a flamethrower and again qualified for the December finals.[[File:PXL 20210515 142919586.jpg|alt=|thumb|Plyohazard V2]][[File:Plyohazard (1).jpg|thumb|Plyohazard V1]]<br />
Revision 3 was a 4-bar lifter, which debuted at the December finals. It went 2-2 in it's first event, with a notable win over Phenomenon.{{Bot Stats|bot=Plyohazard|class=30lb}}<br />
<br />
== Select Fights ==<br />
Video links coming soon!<br />
<br />
<br />
[[Category:30lb Bots]][[Category:NHRL 2021]][[Category:NHRL 2022]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:December.jpg&diff=8300File:December.jpg2023-04-10T00:09:09Z<p>Remzak: </p>
<hr />
<div>4-Bar Lifter Variant</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Spine_Crawler&diff=7751Spine Crawler2022-12-29T20:08:29Z<p>Remzak: /* Gallery */</p>
<hr />
<div>===Robot Facts===<br />
[[File:Spinecrawler 3lb Sept22.png|thumb|Spine Crawler at NHRL September 2022]]<br />
{| class="wikitable" style="width: 60%"<br />
|-<br />
| Builder || Andrew and Jim Kazmer<br />
|-<br />
| Driver || Andrew Kazmer<br />
|-<br />
| Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
| Body Material || TPU, HDPE<br />
|-<br />
| Weapon || Hammer<br />
|-<br />
| Weapon Drive || Hyperlite 2807.5 1322KV with 3D printed Nylon Geartrain<br />
|-<br />
| Drive || Walker driven by Hyperlite 2807.5 1322KV with 3D printed Nylon Geartrain<br />
|-<br />
| Power || 4S 650mAh LiPo<br />
|}<br />
Spine Crawler is a walker Bot that uses a modified Jansen linkage for its legs. The legs are one TPU part, with flex points in critical locations to produce the desired motion profile.<br />
<br />
The hammer uses a Grashof linkage, which is a 4 bar linkage that allows continuous rotation. Additionally, the mechanism is designed with a quick return ratio, meaning that the hammer swings faster in the downstroke and has more torque on the return to assist in self righting.{{Bot Stats|bot=Spine_Crawler|class=3lb}}<br />
<br />
== Select Fights ==<br />
== Gallery ==<br />
[[File:Spine Crawler during final assembly before the September event.jpg|thumb|Spine Crawler during final assembly before the September event|alt=|center|900x900px]]<br />
[[File:Spook Spine Crawler with the LED underglow.jpg|thumb|Spook Spine Crawler with the LED underglow|alt=|center|1200x1200px]]<br />
[[File:Spine Crawler legacy drive module.jpg|thumb|Spine Crawler drive module from the July event|alt=|center|900x900px]]<br />
[[File:Spine Crawler drive geartrain prototyping.jpg|thumb|Spine Crawler drive geartrain prototyping|alt=|center|900x900px]]<br />
[[Category:3lb Bots]][[Category:NHRL 2022]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Spine_Crawler&diff=7750Spine Crawler2022-12-29T20:06:28Z<p>Remzak: Gallery</p>
<hr />
<div>===Robot Facts===<br />
[[File:Spinecrawler 3lb Sept22.png|thumb|Spine Crawler at NHRL September 2022]]<br />
{| class="wikitable" style="width: 60%"<br />
|-<br />
| Builder || Andrew and Jim Kazmer<br />
|-<br />
| Driver || Andrew Kazmer<br />
|-<br />
| Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
| Body Material || TPU, HDPE<br />
|-<br />
| Weapon || Hammer<br />
|-<br />
| Weapon Drive || Hyperlite 2807.5 1322KV with 3D printed Nylon Geartrain<br />
|-<br />
| Drive || Walker driven by Hyperlite 2807.5 1322KV with 3D printed Nylon Geartrain<br />
|-<br />
| Power || 4S 650mAh LiPo<br />
|}<br />
Spine Crawler is a walker Bot that uses a modified Jansen linkage for its legs. The legs are one TPU part, with flex points in critical locations to produce the desired motion profile.<br />
<br />
The hammer uses a Grashof linkage, which is a 4 bar linkage that allows continuous rotation. Additionally, the mechanism is designed with a quick return ratio, meaning that the hammer swings faster in the downstroke and has more torque on the return to assist in self righting.{{Bot Stats|bot=Spine_Crawler|class=3lb}}<br />
<br />
== Select Fights ==<br />
== Gallery ==<br />
[[File:Spine Crawler legacy drive module.jpg|thumb|Spine Crawler drive module from the July event]]<br />
[[File:Spine Crawler drive geartrain prototyping.jpg|thumb|Spine Crawler drive geartrain prototyping]]<br />
[[File:Spine Crawler during final assembly before the September event.jpg|thumb|Spine Crawler during final assembly before the September event]]<br />
[[File:Spook Spine Crawler with the LED underglow.jpg|thumb|Spook Spine Crawler with the LED underglow]]<br />
[[Category:3lb Bots]][[Category:NHRL 2022]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:Spook_Spine_Crawler_with_the_LED_underglow.jpg&diff=7749File:Spook Spine Crawler with the LED underglow.jpg2022-12-29T20:06:10Z<p>Remzak: </p>
<hr />
<div>Spook Spine Crawler with the LED underglow</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:Spine_Crawler_during_final_assembly_before_the_September_event.jpg&diff=7748File:Spine Crawler during final assembly before the September event.jpg2022-12-29T20:05:17Z<p>Remzak: </p>
<hr />
<div>Spine Crawler during final assembly before the September event</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:Spine_Crawler_drive_geartrain_prototyping.jpg&diff=7747File:Spine Crawler drive geartrain prototyping.jpg2022-12-29T20:04:26Z<p>Remzak: </p>
<hr />
<div>Spine Crawler drive geartrain prototyping</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:Spine_Crawler_legacy_drive_module.jpg&diff=7746File:Spine Crawler legacy drive module.jpg2022-12-29T20:03:15Z<p>Remzak: </p>
<hr />
<div>Spine Crawler legacy drive module from the July event</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Spine_Crawler&diff=7744Spine Crawler2022-12-29T19:58:34Z<p>Remzak: Description</p>
<hr />
<div>===Robot Facts===<br />
[[File:Spinecrawler 3lb Sept22.png|thumb|Spine Crawler at NHRL September 2022]]<br />
{| class="wikitable" style="width: 60%"<br />
|-<br />
| Builder || Andrew and Jim Kazmer<br />
|-<br />
| Driver || Andrew Kazmer<br />
|-<br />
| Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
| Body Material || TPU, HDPE<br />
|-<br />
| Weapon || Hammer<br />
|-<br />
| Weapon Drive || Hyperlite 2807.5 1322KV with Nylon Geartrain<br />
|-<br />
| Drive || Walker driven by Hyperlite 2807.5 1322KV with Nylon Geartrain<br />
|-<br />
| Power || 4S 650mAh LiPo<br />
|}<br />
Spine Crawler is a walker Bot that uses a modified Jansen linkage for its legs. The legs are one TPU part, with flex points in critical locations to produce the desired motion profile.<br />
<br />
The hammer uses a Grashof linkage, which is a 4 bar linkage that allows continuous rotation. Additionally, the mechanism is designed with a quick return ratio, meaning that the hammer swings faster in the downstroke and has more torque on the return to assist in self righting.{{Bot Stats|bot=Spine_Crawler|class=3lb}}<br />
<br />
== Select Fights ==<br />
{{#ev:youtube|https://www.youtube.com/watch?v=HXstJoqMM-c&t=16521s}}<br />
<br />
== Gallery ==<br />
<br />
[[Category:3lb Bots]][[Category:NHRL 2022]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Spine_Crawler&diff=7743Spine Crawler2022-12-29T19:51:29Z<p>Remzak: Restarting this page properly</p>
<hr />
<div>===Robot Facts===<br />
[[File:Spinecrawler 3lb Sept22.png|thumb|Spine Crawler at NHRL September 2022]]<br />
{| class="wikitable" style="width: 60%"<br />
|-<br />
| Builder || (Andrew and Jim Kazmer)<br />
|-<br />
| Driver || (Andrew Kazmer)<br />
|-<br />
| Weight Class || [[3lb Weight Class|3lb]]<br />
|-<br />
| Body Material || (TPU, HDPE)<br />
|-<br />
| Weapon || (Hammer)<br />
|-<br />
| Weapon Drive || (Hyperlite 2807.5 1322KV with Nylon Geartrain)<br />
|-<br />
| Drive || (Walker driven by Hyperlite 2807.5 1322KV with Nylon Geartrain)<br />
|-<br />
| Power || (4S 650mAh LiPo)<br />
|}<br />
<br />
{{Bot Stats|bot=Spine_Crawler|class=3lb}}<br />
<br />
== Select Fights ==<br />
{{#ev:youtube|https://www.youtube.com/watch?v=HXstJoqMM-c&t=16521s}}<br />
<br />
== Gallery ==<br />
<br />
[[Category:3lb Bots]][[Category:NHRL 2022]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=DeepMelt&diff=7401DeepMelt2022-11-16T21:58:42Z<p>Remzak: /* Gallery */</p>
<hr />
<div>== Robot Facts ==<br />
[[File:Deepmelt.jpg|thumb|450x450px|DeepMelt, before its debut at the November 2022 Event where the bot went on to go 3-2.|alt=]]<br />
DeepMelt shares construction with Project Liftoff. The robots are physically identical, but DeepMelt is an autonomous robot. During fights, code on the robot uses sensors to detect objects around the robot, and then reacts based on the programming.<br />
{| class="wikitable"<br />
|Driver<br />
|Fully Autonomous<br />
|-<br />
| Team || Team Liftoff<br />
|-<br />
|Weight Class<br />
|3lb<br />
|-<br />
|Body Material<br />
|TPU, AR500<br />
|-<br />
|Weapon<br />
|Meltybrain Spinner<br />
|-<br />
|Weapon Drive<br />
|NA<br />
|-<br />
|Drive<br />
|2 x Propdrive 2836 1400kv, 1.55" Titanium "Cleat" Wheels<br />
|-<br />
|Power<br />
|2x4S 550mah LiPo<br />
|}<br />
<br />
{{Bot Stats|bot=DeepMelt|class=3lb}}<br />
<br />
== Select Fights ==<br />
https://youtube.com/shorts/s5MBdRCK_0U<br />
<br />
== Gallery ==<br />
Images coming soon!<br />
<br />
[[Category:3lb Bots]]<br />
[[Category:NHRL 2021]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=DeepMelt&diff=7400DeepMelt2022-11-16T21:54:35Z<p>Remzak: </p>
<hr />
<div>== Robot Facts ==<br />
[[File:Deepmelt.jpg|thumb|450x450px|DeepMelt, before its debut at the November 2022 Event where the bot went on to go 3-2.|alt=]]<br />
DeepMelt shares construction with Project Liftoff. The robots are physically identical, but DeepMelt is an autonomous robot. During fights, code on the robot uses sensors to detect objects around the robot, and then reacts based on the programming.<br />
{| class="wikitable"<br />
|Driver<br />
|Fully Autonomous<br />
|-<br />
| Team || Team Liftoff<br />
|-<br />
|Weight Class<br />
|3lb<br />
|-<br />
|Body Material<br />
|TPU, AR500<br />
|-<br />
|Weapon<br />
|Meltybrain Spinner<br />
|-<br />
|Weapon Drive<br />
|NA<br />
|-<br />
|Drive<br />
|2 x Propdrive 2836 1400kv, 1.55" Titanium "Cleat" Wheels<br />
|-<br />
|Power<br />
|2x4S 550mah LiPo<br />
|}<br />
<br />
{{Bot Stats|bot=DeepMelt|class=3lb}}<br />
<br />
== Select Fights ==<br />
Video links Coming Soon!<br />
<br />
== Gallery ==<br />
Images coming soon!<br />
<br />
[[Category:3lb Bots]]<br />
[[Category:NHRL 2021]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=DeepMelt&diff=7399DeepMelt2022-11-16T21:54:15Z<p>Remzak: </p>
<hr />
<div>== Robot Facts ==<br />
[[File:Deepmelt.jpg|thumb|600x600px|DeepMelt, before its debut at the November 2022 Event where the bot went on to go 3-2.]]<br />
DeepMelt shares construction with Project Liftoff. The robots are physically identical, but DeepMelt is an autonomous robot. During fights, code on the robot uses sensors to detect objects around the robot, and then reacts based on the programming.<br />
{| class="wikitable"<br />
|Driver<br />
|Fully Autonomous<br />
|-<br />
| Team || Team Liftoff<br />
|-<br />
|Weight Class<br />
|3lb<br />
|-<br />
|Body Material<br />
|TPU, AR500<br />
|-<br />
|Weapon<br />
|Meltybrain Spinner<br />
|-<br />
|Weapon Drive<br />
|NA<br />
|-<br />
|Drive<br />
|2 x Propdrive 2836 1400kv, 1.55" Titanium "Cleat" Wheels<br />
|-<br />
|Power<br />
|2x4S 550mah LiPo<br />
|}<br />
<br />
{{Bot Stats|bot=DeepMelt|class=3lb}}<br />
<br />
== Select Fights ==<br />
Video links Coming Soon!<br />
<br />
== Gallery ==<br />
Images coming soon!<br />
<br />
[[Category:3lb Bots]]<br />
[[Category:NHRL 2021]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Flip_N%27_Cut&diff=7398Flip N' Cut2022-11-16T21:49:36Z<p>Remzak: format</p>
<hr />
<div>=== Robot Facts ===<br />
[[File:Flipncut.jpg|alt=|thumb|300x300px|Flip N' Cut, before its debut at the November 2022 Event where the bot went on to go 5-2.]]<br />
Flip N' Cut shares design lineage with the Project Liftoff series of Meltybrain robots. Most of the components inside Flip N' Cut are similar, but the TPU shell and the weapon teeth are different. During fights, Flip N' Cut plays the ground game, getting under wedges and forks and tossing other robots into the air, with a focus on control instead of damage. <br />
{| class="wikitable"<br />
|Driver<br />
|Andrew Kazmer<br />
|-<br />
| Team || Team Liftoff<br />
|-<br />
|Weight Class<br />
|3lb<br />
|-<br />
|Body Material<br />
|TPU, AR500<br />
|-<br />
|Weapon<br />
|Meltybrain "Flying Wedge"<br />
|-<br />
|Weapon Drive<br />
|NA<br />
|-<br />
|Drive<br />
|2 x Propdrive 2836 1000kv, 1.55" Titanium "Cleat" Wheels<br />
|-<br />
|Power<br />
|2x4S 550mah LiPo<br />
|}<br />
<br />
{{Bot Stats|bot=Flip N' Cut|class=3lb}}<br />
<br />
== Select Fights ==<br />
Video links Coming Soon!<br />
<br />
== Gallery ==<br />
Images coming soon!<br />
<br />
[[Category:3lb Bots]]<br />
[[Category:NHRL 2021]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Flip_N%27_Cut&diff=7397Flip N' Cut2022-11-16T21:49:08Z<p>Remzak: minor</p>
<hr />
<div>=== Robot Facts ===<br />
[[File:Flipncut.jpg|alt=|thumb|600x600px|Flip N' Cut, before its debut at the November 2022 Event where the bot went on to go 5-2.|left]]<br />
Flip N' Cut shares design lineage with the Project Liftoff series of Meltybrain robots. Most of the components inside Flip N' Cut are similar, but the TPU shell and the weapon teeth are different. During fights, Flip N' Cut plays the ground game, getting under wedges and forks and tossing other robots into the air, with a focus on control instead of damage. <br />
{| class="wikitable"<br />
|Driver<br />
|Andrew Kazmer<br />
|-<br />
| Team || Team Liftoff<br />
|-<br />
|Weight Class<br />
|3lb<br />
|-<br />
|Body Material<br />
|TPU, AR500<br />
|-<br />
|Weapon<br />
|Meltybrain "Flying Wedge"<br />
|-<br />
|Weapon Drive<br />
|NA<br />
|-<br />
|Drive<br />
|2 x Propdrive 2836 1000kv, 1.55" Titanium "Cleat" Wheels<br />
|-<br />
|Power<br />
|2x4S 550mah LiPo<br />
|}<br />
<br />
{{Bot Stats|bot=Flip N' Cut|class=3lb}}<br />
<br />
== Select Fights ==<br />
Video links Coming Soon!<br />
<br />
== Gallery ==<br />
Images coming soon!<br />
<br />
[[Category:3lb Bots]]<br />
[[Category:NHRL 2021]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Flip_N%27_Cut&diff=7396Flip N' Cut2022-11-16T21:47:23Z<p>Remzak: </p>
<hr />
<div>=== Robot Facts ===<br />
[[File:Flipncut.jpg|alt=|thumb|600x600px|Flip N' Cut, before its debut at the November 2022 Event where the bot went on to go 5-2.]]<br />
Flip N' Cut shares design lineage with the Project Liftoff series of Meltybrain robots. Most of the components inside Flip N' Cut are similar, but the TPU shell and the weapon teeth are different. During fights, Flip N' Cut plays the ground game, getting under wedges and forks and tossing other robots into the air, with a focus on control instead of damage. <br />
{| class="wikitable"<br />
|Driver<br />
|Andrew Kazmer<br />
|-<br />
| Team || Team Liftoff<br />
|-<br />
|Weight Class<br />
|3lb<br />
|-<br />
|Body Material<br />
|TPU, AR500<br />
|-<br />
|Weapon<br />
|Meltybrain "Flying Wedge"<br />
|-<br />
|Weapon Drive<br />
|NA<br />
|-<br />
|Drive<br />
|2 x Propdrive 2836 1000kv, 1.55" Titanium "Cleat" Wheels<br />
|-<br />
|Power<br />
|2x4S 550mah LiPo<br />
|}<br />
<br />
{{Bot Stats|bot=Flip N' Cut|class=3lb}}<br />
<br />
== Select Fights ==<br />
Video links Coming Soon!<br />
<br />
== Gallery ==<br />
Images coming soon!<br />
<br />
[[Category:3lb Bots]]<br />
[[Category:NHRL 2021]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=DeepMelt&diff=7392DeepMelt2022-11-16T19:48:48Z<p>Remzak: /* Contents */</p>
<hr />
<div>== Robot Facts ==<br />
[[File:Deepmelt.jpg|thumb|600x600px|DeepMelt, before its debut at the November 2022 Event where the bot went on to go 3-2.]]<br />
DeepMelt shares construction with Project Liftoff. The robots are physically identical, but DeepMelt is an autonomous robot. During fights, code on the robot uses sensors to detect objects around the robot, and then reacts based on the programming.<br />
{| class="wikitable"<br />
|Driver<br />
|Fully Autonomous<br />
|-<br />
|Weight Class<br />
|3lb<br />
|-<br />
|Body Material<br />
|TPU, AR500<br />
|-<br />
|Weapon<br />
|Meltybrain Spinner<br />
|-<br />
|Weapon Drive<br />
|NA<br />
|-<br />
|Drive<br />
|2 x Propdrive 2836 1400kv, 1.55" Titanium "Cleat" Wheels<br />
|-<br />
|Power<br />
|2x4S 550mah LiPo<br />
|}<br />
<br />
[[Category:3lb Bots]]<br />
[[Category:NHRL 2021]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Flip_N%27_Cut&diff=7391Flip N' Cut2022-11-16T19:47:49Z<p>Remzak: Created</p>
<hr />
<div>=== Robot Facts ===<br />
[[File:Flipncut.jpg|alt=|thumb|600x600px|Flip N' Cut, before its debut at the November 2022 Event where the bot went on to go 5-2.]]<br />
Flip N' Cut shares design lineage with the Project Liftoff series of Meltybrain robots. Most of the components inside Flip N' Cut are similar, but the TPU shell and the weapon teeth are different. During fights, Flip N' Cut plays the ground game, getting under wedges and forks and tossing other robots into the air, with a focus on control instead of damage. <br />
{| class="wikitable"<br />
|Driver<br />
|Andrew Kazmer<br />
|-<br />
|Weight Class<br />
|3lb<br />
|-<br />
|Body Material<br />
|TPU, AR500<br />
|-<br />
|Weapon<br />
|Meltybrain "Flying Wedge"<br />
|-<br />
|Weapon Drive<br />
|NA<br />
|-<br />
|Drive<br />
|2 x Propdrive 2836 1000kv, 1.55" Titanium "Cleat" Wheels<br />
|-<br />
|Power<br />
|2x4S 550mah LiPo<br />
|}<br />
<br />
[[Category:3lb Bots]]<br />
[[Category:NHRL 2021]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:Flipncut.jpg&diff=7390File:Flipncut.jpg2022-11-16T19:44:40Z<p>Remzak: </p>
<hr />
<div>Flip N' Cut, before its debut at the November 2022 Event where the bot went on to go 5-2.</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Flip_N%27_Cut&diff=7389Flip N' Cut2022-11-16T19:43:46Z<p>Remzak: Created page with "=== Robot Facts === DeepMelt, before its debut at the November 2022 Event where the bot went on to go 3-2. DeepMelt shares construction w..."</p>
<hr />
<div>=== Robot Facts ===<br />
[[File:Deepmelt.jpg|thumb|600x600px|DeepMelt, before its debut at the November 2022 Event where the bot went on to go 3-2.]]<br />
DeepMelt shares construction with Project Liftoff. The robots are physically identical, but DeepMelt is an autonomous robot. During fights, code on the robot uses sensors to detect objects around the robot, and then reacts based on the programming.<br />
{| class="wikitable"<br />
|Driver<br />
|Fully Autonomous<br />
|-<br />
|Weight Class<br />
|3lb<br />
|-<br />
|Body Material<br />
|TPU, AR500<br />
|-<br />
|Weapon<br />
|Meltybrain Spinner<br />
|-<br />
|Weapon Drive<br />
|NA<br />
|-<br />
|Drive<br />
|2 x Propdrive 2836 1400kv, 1.55" Titanium "Cleat" Wheels<br />
|-<br />
|Power<br />
|2x4S 550mah LiPo<br />
|}<br />
<br />
[[Category:3lb Bots]]<br />
[[Category:NHRL 2021]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=DeepMelt&diff=7388DeepMelt2022-11-16T19:41:57Z<p>Remzak: </p>
<hr />
<div>== Contents ==<br />
<br />
=== Robot Facts ===<br />
[[File:Deepmelt.jpg|thumb|600x600px|DeepMelt, before its debut at the November 2022 Event where the bot went on to go 3-2.]]<br />
DeepMelt shares construction with Project Liftoff. The robots are physically identical, but DeepMelt is an autonomous robot. During fights, code on the robot uses sensors to detect objects around the robot, and then reacts based on the programming.<br />
{| class="wikitable"<br />
|Driver<br />
|Fully Autonomous<br />
|-<br />
|Weight Class<br />
|3lb<br />
|-<br />
|Body Material<br />
|TPU, AR500<br />
|-<br />
|Weapon<br />
|Meltybrain Spinner<br />
|-<br />
|Weapon Drive<br />
|NA<br />
|-<br />
|Drive<br />
|2 x Propdrive 2836 1400kv, 1.55" Titanium "Cleat" Wheels<br />
|-<br />
|Power<br />
|2x4S 550mah LiPo<br />
|}<br />
<br />
[[Category:3lb Bots]]<br />
[[Category:NHRL 2021]]</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=DeepMelt&diff=7387DeepMelt2022-11-16T19:33:07Z<p>Remzak: Working, more to add.</p>
<hr />
<div>== Contents ==<br />
<br />
=== Robot Facts ===<br />
[[File:Deepmelt.jpg|thumb|600x600px|DeepMelt, before its debut at the November 2022 Event where the bot went on to go 3-2.]]<br />
DeepMelt shares construction with Project Liftoff. The robots are physically identical, but DeepMelt is an autonomous robot. During fights, code on the robot uses sensors to detect objects around the robot, and then reacts based on the programming.<br />
{| class="wikitable"<br />
|Driver<br />
|Fully Autonomous<br />
|-<br />
|Weight Class<br />
|3lb<br />
|-<br />
|Body Material<br />
|TPU, AR500<br />
|-<br />
|Weapon<br />
|Meltybrain Spinner<br />
|-<br />
|Weapon Drive<br />
|NA<br />
|-<br />
|Drive<br />
|2 x Propdrive 2836 1400kv, 1.55" Titanium "Cleat" Wheels<br />
|-<br />
|Power<br />
|2x4S 550mah LiPo<br />
|}</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=File:Deepmelt.jpg&diff=7386File:Deepmelt.jpg2022-11-16T19:22:32Z<p>Remzak: </p>
<hr />
<div>DeepMelt, before its debut at the November 2022 Event where the bot went on to go 3-2.</div>Remzakhttps://wiki.nhrl.io/wiki/index.php?title=Plyohazard&diff=7026Plyohazard2022-10-01T02:18:50Z<p>Remzak: /* Robot Facts */</p>
<hr />
<div>[[File:Arena Plyo.jpg|thumb|Plyohazard in September 2022 before it's match with Helios]]<br />
[[File:Burn Baby Burn.jpg|thumb|PYROHAZARD]]<br />
[[File:Flamethrower CAD.png|thumb|Flamethrower module CAD]]<br />
<br />
===Robot Facts===<br />
{| class="wikitable" style="width: 60%"<br />
|-<br />
| Driver || Andrew Kazmer<br />
|-<br />
| Weight Class ||[[30lb Weight Class|30lb]]<br />
|-<br />
| Body Material || Wood, AR500, Titanium, HDPE, TPU<br />
|-<br />
| Weapon || Twin Vertical, Flamethrower, Angle Grinder<br />
|-<br />
| Weapon Drive || 1/8 Scale Trackstar 2025kv, Butane<br />
|-<br />
| Drive || Emax 5335 with 5:1 timing belt reduction to 5" Colson Wheel<br />
|-<br />
| Power || 6S 3300mAh LiPo<br />
|}<br />
<br />
=== '''Description''' ===<br />
Plyohazard is a Featherweight (30lb) robot initially built as a joke robot. <br />
<br />
The first revision was entirely pine wood, with a welded mild steel wedge. Revision 2 was intended to be the minimum viable product to qualify for the December Finals. The bot was entirely made from 0.1" and 0.187" AR500 panels cut by SendCutSend and welded or nutstrip'd together. The bot used single stage belt reduction for both the drive and weapon, and had two vertical weapons that were swappable between a hammer spinner and a framing saw. The front wedge was 0.25" AR500. The bot kept the wood theme, and used faux wood decals to fake it's construction method. This bot was fun, but not very competitive. Repairs on this bot kept it running until September 2022, where it competed as a flamethrower and again qualified for the December finals.[[File:PXL 20210515 142919586.jpg|alt=|thumb|Plyohazard V2]][[File:Plyohazard (1).jpg|thumb|Plyohazard V1]]<br />
Revision 3 will be unveiled at the December finals.{{Bot Stats|bot=Plyohazard|class=30lb}}<br />
<br />
== Select Fights ==<br />
Video links coming soon!<br />
<br />
<br />
[[Category:30lb Bots]][[Category:NHRL 2021]]</div>Remzak