    # TODO: unify field names used by curvature and angle control cars
    ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.005, 0.00056, 0.0002])
    ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.008, 0.00089, 0.00032])
  
    def __init__(self, CP):
      pass
  
  
  class CANBUS:
    main = 0
 
</s> remove from selfdrive.car.ford.fordcan import create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, create_lka_msg, create_lkas_ui_msg
 </s> add from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
  create_lka_msg, create_lkas_ui_msg
  ACCEL_MAX = 2.0               # m/s^s max acceleration
  ACCEL_MIN = -3.5              # m/s^s max deceleration

    # TODO: unify field names used by curvature and angle control cars
    ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.005, 0.00056, 0.0002])
    ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.008, 0.00089, 0.00032])
  
  ACCEL_MAX = 2.0               # m/s^s max acceleration
  ACCEL_MIN = -3.5              # m/s^s max deceleration

    def __init__(self, CP):
      pass
  
  
  class CANBUS:
    main = 0
keep keep keep add keep keep keep keep keep keep
 Ford longitudinal control (#27161)

ford long 
selfdrive/car/ford/values.py