try practicing with your feet what you normally practice with hands.
some examples include:
single stroke rudiment - quarter notes, 8th, 8th triplet, 16th, 16th triplet
accented single strokes
paradiddles - singles, double
flams, flam paradiddles, flam accents, flamacues etc.
a good 4-way exercise would be to take the above and practice with hands doing simpler stuff, like single strokes.
you might have seen drummers double pedalling on 16ths, while the hands improvise. the idea is you can reverse it. ie. hands on 16ths, feet improvise.
try it and let us know if its happening for u!
cheers