Atv Street Legal Texas

Texas Street Legal Grizzly 660 ??

I just recieved my first ticket($380.00) for : having a passenger on the bike, driving a ATV on public road, not having helmet / eye protection. I live in Cypress Tx and only have about a mile of street before I am offroad. I have heard of people that get there four wheelers legal in Texas but have yet to see the details. Please only reply to this question if you have valid information to make a four wheeler Street Legal in Texas.

Texas Transpotation Code states:
§ 502.006. ALL-TERRAIN VEHICLES. (a) Except as
provided by Subsection (b), a person may not register an
all-terrain vehicle, with or without design alterations, for
operation on a public highway.