Changing the degrees the BeInMotion kit rotate

[Altera_Forum]

So far I'm new in programming FPGAs and using the Quartus , Qsys and Nios. I tried to change all the values in the void turn_left() but returned empty handed. So far I'm grasping the basics but i'm pretty it is in that function. I want it to rotate from 90 degrees to around 45 deg. so that it will be smoother. Here's the code 

 int turn_left() {  int dc_m1_pwm_duty = dc_m1_pwm_freq/4;  int dc_m2_pwm_duty = dc_m2_pwm_freq/4;   dc1_cmp = 1;  dc2_cmp = 1;   IOWR(IR_RX2_BASE,0x00,0);  IOWR(IR_RX1_BASE,0x00,0);  IOWR(DC2_PWM2_BASE+0x08,0,0);  IOWR(DC1_PWM1_BASE+0x08,0,0);   IOWR(DC2_PWM1_BASE,0,dc_m2_pwm_freq);  IOWR(DC2_PWM1_BASE+0x04,0,dc_m2_pwm_duty);  IOWR(DC1_PWM2_BASE,0,dc_m1_pwm_freq);  IOWR(DC1_PWM2_BASE+0x04,0,dc_m1_pwm_duty);   IOWR(IR_RX2_BASE,1,722);  IOWR(IR_RX1_BASE,1,722);  IOWR(IR_RX2_BASE,0x00,1);  IOWR(IR_RX1_BASE,0x00,1);   IOWR(DC1_PWM2_BASE+0x08,0,1);  IOWR(DC2_PWM1_BASE+0x08,0,1);   while(1)  {  if(( dc1_cmp ==0 ) && (dc2_cmp ==0 ))  return 0;  else  {  usleep(90000);  dc_m1 = IORD(IR_RX1_BASE,1);  dc_m2 = IORD(IR_RX2_BASE,1);  i = dc_m1-dc_m2;  j = dc_m2-dc_m1;  if(i > 5) {  if(dc_m2_pwm_duty >= 100)  dc_m2_pwm_duty-=50;  if(dc_m1_pwm_duty < 850)  dc_m1_pwm_duty+=50;  IOWR(DC2_PWM1_BASE+0x04,0,dc_m2_pwm_duty);  IOWR(DC1_PWM2_BASE+0x04,0,dc_m1_pwm_duty);  }  else  if(j > 5) {  if(dc_m1_pwm_duty >= 50);  dc_m1_pwm_duty-=50;  if(dc_m2_pwm_duty < 1700)  dc_m2_pwm_duty+=50;  IOWR(DC2_PWM1_BASE+0x04,0,dc_m2_pwm_duty);  IOWR(DC1_PWM2_BASE+0x04,0,dc_m1_pwm_duty);  }  }  } }  Hope someone and I'll appreciate it. Thank you in advance.