        if (frame % 3) == 0:
  
          curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo)
  
          # 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
  
          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         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(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> add     if (frame % 100) == 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       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       if pcm_cancel:
        #print "CANCELING!!!!"
        can_sends.append(spam_cancel_button(self.packer))
 </s> add     if (frame % 3) == 0:
      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 % 3) == 0:
  
          curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo)
  
      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
      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
      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
      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
      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
      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
  
          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
  
keep keep keep keep replace replace replace 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