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Once your soldier is equipped, press and hold your fire weapon button (R2 in default button layout). Then equip your soldier with any semi-automatic gun.
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Basically, Rapid Fire pulls the fire trigger quickly for you. Rapid Fire mod turns virtually any semi-automatic and single shotgun into a fully automatic one. Your PS4 mod will sync to the console automatically. Unplug the power cord from the original PS4 controller that came with your PS4 console and plug it into your modded PS4 controller. You will need to sync your new PS4 modded controller to your PS4 console for a very first time of use the controller. How Do I sync PS4 Modded Controller to My Console?
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