Ah yes in order to do this what I would use a Lerp or Slerp function.
So basically do this.
Create 2 Quaternions a min and max.
Then, because the expected input is between -1.0f and 1.0f we can then stream line the data. But, since Lerp or Slerp cannot take in a negative number, we need to then shift the number line over by 1 and divide by 2. So we have values between 0.0f and 1.0f. So between -20.0f and 20.0f the value will be 0.0f that is half way on the Lerp and Slerp functions so when they tilt toward -1.0f it will be getting closer to 0.0f meaning the rotation moves toward -20.0f and vise versa. So this is how you do it.