Apex Pathing

Path tangentOptimalPath = new PathBuilder()
        .addControlPoints(
                lastPath.getEndPose(),
                pose.of(120, 20),
                pose.arcPoseOf(120, 0, 10),
                pose.of(100, -20, 0)
        )
        .interpolateWith(InterpolationStyle.TANGENT_OPTIMAL)
        .addDistanceCallback(0.8, this::dropElement)
        .build();
 
Turn callbackTurn = new TurnBuilder(tangentOptimalPath.getEndPose())
        .turnTo(Angle.fromDeg(0))
        .addAngularCallback(Angle.fromDeg(315), this::deployOuttake)
        .build();
 
Follower follower = constants.build();
follower.follow(tangentOptimalPath);