            self.lkas_action &= 0xf
          else:
            self.lkas_action = 5   # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy
  
          can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
                                                CS.lkas_state, CS.out.steeringAngleDeg, curvature, self.lkas_action))
          self.generic_toggle_last = CS.out.genericToggle
  
        if (frame % 100) == 0:
  
          can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0))
          #can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0))
 
</s> remove         # 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
 </s> add       can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
                                            CS.lkas_state, CS.out.steeringAngleDeg, curvature, self.lkas_action))
      self.generic_toggle_last = CS.out.genericToggle </s> remove       if (frame % 100) == 0:
 </s> add       can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0))
      #can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0)) </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 </s> remove         can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0))
        #can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0))
 </s> add     if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \
       (self.steer_alert_last != steer_alert):
      can_sends.append(create_lkas_ui(self.packer, CS.out.cruiseState.available, enabled, steer_alert)) </s> remove       if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \
         (self.steer_alert_last != steer_alert):
        can_sends.append(create_lkas_ui(self.packer, CS.out.cruiseState.available, enabled, steer_alert))
 </s> add     if (frame % 200) == 0:
      can_sends.append(make_can_msg(1875, b'\x80\xb0\x55\x55\x78\x90\x00\x00', 1))
    if (frame % 100) == 0:
            self.lkas_action &= 0xf
          else:
            self.lkas_action = 5   # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy
  
    if (frame % 100) == 0:
    if (frame % 100) == 0:
    if (frame % 100) == 0:
  
        if (frame % 100) == 0:
  
          can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0))
          #can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0))
keep keep keep keep replace replace replace keep keep keep keep keep
 deprecate CP.enableCamera (#21509)

* deprecate CP.enableCamera

* more removal

* one more

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