      steer_alert = visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
  
      apply_steer = actuators.steer
  
      if self.enable_camera:
  
        if pcm_cancel:
          #print "CANCELING!!!!"
          can_sends.append(spam_cancel_button(self.packer))
  
 
</s> remove       if pcm_cancel:
        #print "CANCELING!!!!"
        can_sends.append(spam_cancel_button(self.packer))
 </s> add     if (frame % 3) == 0: </s> remove       if (frame % 3) == 0:
 </s> add       curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo) </s> remove       ret.enableCamera = True
 </s> add  </s> remove     ret.enableCamera = True
 </s> add  </s> remove         curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo)
 </s> add       # The use of the toggle below is handy for trying out the various LKAS modes
      if TOGGLE_DEBUG:
        self.lkas_action += int(CS.out.genericToggle and not self.generic_toggle_last)
        self.lkas_action &= 0xf
      else:
        self.lkas_action = 5   # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy
    if pcm_cancel:
      #print "CANCELING!!!!"
      can_sends.append(spam_cancel_button(self.packer))
      steer_alert = visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
  
      apply_steer = actuators.steer
  
    if pcm_cancel:
      #print "CANCELING!!!!"
      can_sends.append(spam_cancel_button(self.packer))
  
        if pcm_cancel:
          #print "CANCELING!!!!"
          can_sends.append(spam_cancel_button(self.packer))
  
keep keep keep keep replace keep keep keep keep keep
 deprecate CP.enableCamera (#21509)

* deprecate CP.enableCamera

* more removal

* one more

* update refs 
selfdrive/car/ford/carcontroller.py