PWM controlled steering gear

Mission requirements

Use PWM Control the steering gear to rotate at any angle within the steering gear angle range .
matters needing attention ： Try not to use external force to prevent the steering gear from rotating , Avoid damage to the single chip .
Acceptance requirements ：
initial position 0°, Press the button ( You can customize any key ) rotate 30°, If you end up turning , Turn into pressing the button to turn in the opposite direction 30°
Press a key repeatedly , From 0 Change to the maximum angle and return to 0

Ideas

Need to use 30°
So use the original
0° 1500 0.5ms
45° 3000 1ms
……
Calculate the proportion
You can estimate
30.06 2502 0.834 1002

The whole cycle is 20ms, Overflow value is 60000
0 0.5ms 1500
180 2.5ms 7500
Overflow time =(arr+1)(psc+1)/Tclk
20MS = (59999+1)*(23+1)/72000000

Finished code

int main (void){
    
// Defining variables must be placed first 
	u16 t = 1500;
	u8 dir = 1;
	
	delay_ms(500); 
	RCC_Configuration();  
	RELAY_Init();
	I2C_Configuration();
	TOUCH_KEY_Init();// Initialize touch button 
	TIM3_PWM_Init(59999,23); 
	// Make the initial situation 0°
TIM_SetCompare3(TIM3,1500);
	while(1){
    
	delay_ms(10);	
	// Positive direction , Press the key every time 30°
	if(dir){
    
		for(t=1500;t<7500;){
    
	
		if(!GPIO_ReadInputDataBit(TOUCH_KEYPORT,TOUCH_KEY_B)){
     
if(!GPIO_ReadInputDataBit(TOUCH_KEYPORT,TOUCH_KEY_B)){
    

	t=t+1002;// It needs to be done first ++ Then execute, so write the code here 
			TIM_SetCompare3(TIM3,t);    

while(!GPIO_ReadInputDataBit(TOUCH_KEYPORT,TOUCH_KEY_B)); 
   }
}
		}	
		}	
		if(t==7500)dir=0;
	// Negative direction , Press the key every time 30°
			else{
    
				for(t=7500;t>1500;){
    
					
						if(!GPIO_ReadInputDataBit(TOUCH_KEYPORT,TOUCH_KEY_B)){
     
if(!GPIO_ReadInputDataBit(TOUCH_KEYPORT,TOUCH_KEY_B)){
     
	t=t-1002;
			TIM_SetCompare3(TIM3,t);    

while(!GPIO_ReadInputDataBit(TOUCH_KEYPORT,TOUCH_KEY_B)); 
   }
}
	}	
				
}			
if(t==1500)dir=1;// Corresponding to the previous one if The statement needs to be written in if（dir） Outside , Otherwise, the loop cannot jump out 
}
}

Because you need to go every time you press the key 30° So the key should be locked , The principle is the same as the previous mechanical key locking . But touching the button does not need to delay to eliminate jitter .