void turnToOpponent(){
  if(orientation == TO_PLATFORM){
    turn(CW,CIRCUM_TO_PLATFORM,TURN_SPEED);
  }else if (orientation == TO_WALL){
    turn(CCW,CIRCUM_TO_WALL,TURN_SPEED);
  }else if (orientation == TO_SELF){
    turn(CW,CIRCUM_TO_SELF,TURN_SPEED);
  }
}