.. _add_chassis:

Build Chassis
=============

Add HEBI_Hexapod_Chassis Subsystem
----------------------------------

#. Locate the **GME Browser window**.
#. Right-click on the **RootFolder** > **B_SubSystems** > **2_Locomotion** > **2_Leg_Move_Base**
   > **6_Hexapod** > **TripodGait** > **HEBI_Hexapod_Chassis** Component Assembly
   and select :menuselection:`Copy`.

   .. image:: images/gme_browser_add_hebi_hexapod_chassis_subsystem.png

#. Inside the **HEBI_Daisy_Hexapod** Component Assembly canvas, right-click
   and select :menuselection:`Paste Special --> As Reference`.

   .. image:: images/hebi_daisy_hexapod_canvas_add_chassis.png

Preview in Meta-Link
--------------------

Now, the **HEBI_Daisy_Hexapod** System contains a single Subsystem.
The physical architecture can be previewed in CREO via Meta-Link.

#. With the **HEBI_Daisy_Hexapod** Component Assembly canvas open,
   left-click on the Meta-Link button.

   .. image:: images/meta_link.png

#. If the MetaLink window opens, left-click :guilabel:`OK`.

   .. image:: images/meta_link_window.png

   CREO will open with the composed physical model loaded.

   .. image:: images/creo_preview_1.png

#. Once you've finished looking at the physical model, simply close CREO to exit Meta-Link.

Change HEBI_Hexapod_Chassis Tube Lengths
----------------------------------------

Let's increase the length of the 6 tubes in **HEBI_Hexapod_Chassis**.
One option is to modify the component directly; however, that would affect every design
that contains a reference to **HEBI_Hexapod_Chassis**.

Fortunately, the **HEBI_Hexapod_Chassis** has a number of exposed parameter ports -
including some that control the length of the 6 tubes.

#. With the **HEBI_Daisy_Hexapod** Component Assembly canvas open,
   right-click on the canvas just below the **HEBI_Hexapod_Chassis** model
   and select :menuselection:`Insert New Reference --> Property`.
#. Name the Property *125_mm*.
#. Set the Property Value to **125**.

   .. image:: images/hebi_daisy_hexapod_canvas_prop_125.png

Now connect the **125_mm** Property to the **HEBI_Hexapod_Chassis** model's **Leg3TubeLen** and **Leg4TubeLen** Parameter ports.

#. Left-click **Connect Mode** on the **Mode** toolbar (alternatively press :kbd:`Ctrl-2` to activate Connect Mode).
#. Left-click on the edge of the **125_mm** Property.
#. Then left-click on the **HEBI_Hexapod_Chassis** model's **Leg3TubeLen**.
#. Left-click on the edge of the **125_mm** Property.
#. Then left-click on the **HEBI_Hexapod_Chassis** model's **Leg4TubeLen**.

   .. image:: images/hebi_daisy_hexapod_canvas_prop_125_connected.png

#. Left-click **Edit Mode** on the **Mode** toolbar (alternatively press :kbd:`Ctrl-1` to activate **Edit Mode**).

Add a second Property with a Value of 175.

#. Right-click on the canvas just below the **125_mm** Property
   and select :menuselection:`Insert New Reference --> Property`.
#. Name the Property *175_mm*.
#. Set the Property Value to **175**.

Now connect the **175_mm** Property to the **HEBI_Hexapod_Chassis** model's
**Leg1TubeLen**, **Leg2TubeLen**, **Leg5TubeLen**, **Leg6TubeLen**
Parameter ports.

#. Left-click **Connect Mode** on the **Mode** toolbar (alternatively press :kbd:`Ctrl-2` to activate Connect Mode).
#. Left-click on the edge of the **175_mm** Property.
#. Then left-click on the **HEBI_Hexapod_Chassis** model's **Leg1TubeLen**.
#. Left-click on the edge of the **175_mm** Property.
#. Then left-click on the **HEBI_Hexapod_Chassis** model's **Leg2TubeLen**.
#. Left-click on the edge of the **175_mm** Property.
#. Then left-click on the **HEBI_Hexapod_Chassis** model's **Leg5TubeLen**.
#. Left-click on the edge of the **175_mm** Property.
#. Then left-click on the **HEBI_Hexapod_Chassis** model's **Leg6TubeLen**.

   .. image:: images/hebi_daisy_hexapod_canvas_prop_175_connected.png

You can use Meta-Link again to verify that the physical model has changed.

.. image:: images/creo_preview_2.png

Add Wireless_Chassis Part
-------------------------

#. Locate the **GME Browser window**.
#. Right-click on the
   **RootFolder** > **A_Parts** > **HEBI_Robotics** > **0_Chassis** > **Wireless_Chassis** Component
   and select :menuselection:`Copy`.
#. Inside the **HEBI_Daisy_Hexapod** Component Assembly canvas, right-click
   and select :menuselection:`Paste Special --> As Reference`.

Connect Wireless_Chassis Part to HEBI_Hexapod_Chassis
-----------------------------------------------------

#. Left-click **Connect Mode** on the **Mode** toolbar (alternative press :kbd:`Ctrl-2` to activate **Connect Mode**).
#. Left-click the **HEBI_Hexapod_Chassis** model's **TopMount** Connector port.
#. Then left-click on the **Wireless_Chassis** model's **Mount** Connector port to connect the two models.

   .. image:: images/comp_asm_connect_talker_listener.png

#. Left-click **Edit Mode** on the **Mode** toolbar (alternatively press :kbd:`Ctrl-1` to activate **Edit Mode**).

You can use Meta-Link again to verify that the physical model has changed.

.. image:: images/creo_preview_3.png

Designate Root Model in Component Assembly
------------------------------------------

Now that the **HEBI_Daisy_Hexapod** Component Assembly contains more than 1 CADModel,
you need to designate which one is the root component.

#. With the **HEBI_Daisy_Hexapod** Component Assembly canvas open,
   right-click on the canvas and select :menuselection:`Insert New Atom --> ReferenceCoordinateSystem`.
#. Left-click **Connect Mode** on the **Mode** toolbar (alternative press :kbd:`Ctrl-2` to activate **Connect Mode**).
#. Left-click the ReferenceCoordinateSystem atom.
#. Then left-click on the **HEBI_Hexapod_Chassis** model's **ReferenceCoordinateSystem** port
   to designate the **HEBI_Hexapod_Chassis** as the root model in the Component Assembly.
#. The Select Connection Role Type window will open.
   Select **RefCoordSystem2RefCoordSystem**
   and left-click :guilabel:`OK`.
#. Left-click **Edit Mode** on the **Mode** toolbar (alternatively press :kbd:`Ctrl-1` to activate **Edit Mode**).