          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))
  
        if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \
 
</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)) </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 % 200) == 0:
        can_sends.append(make_can_msg(1875, b'\x80\xb0\x55\x55\x78\x90\x00\x00', 1))
 </s> add     if (frame % 10) == 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
      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))
          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(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))
  
          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))
  
        if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \
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