Whip's Angle Increment Code

/// Whip's Rotor Angle Increment Code v3 /// revision: 3/17/17
/*
Setup:
1) Place this code in a program block
2) Make a timer with actions:
    - Run this program with NO ARGUMENT
    - Start itself
    - Trigger Now itself
3) Name the rotors that you wish to increment with the name tag "Increment" (you can custmize this below)

Arguments:

<angle> : typing a number will INCREMENT the rotor angle by that number
    Ex: "+10" will increment by 10 degrees
    Ex: "-30" will increment by -30 degrees

set <angle> : typing the word "set" in front of the angle will make the code EXPLICITLY set the rotor angle to the
              input number.
    Ex: "set 130" will set the rotor angle to 130 degrees

*/

const string rotorName = "Increment";
const float rotationVelocity = 3f;
bool lockRotorsOnLimit = true;

////NO TOUCHEY BELOW HERE///
const double updatesPerSecond = 10;
const double maxCycleTime = 1 / updatesPerSecond;
double currentCycleTime = 0;

void Main(string arg)
{
    if (arg != "")
    {
        ParseArguments(arg);
    }

    currentCycleTime += Runtime.TimeSinceLastRun.TotalSeconds;

    if (currentCycleTime < maxCycleTime)
        return;

    if (lockRotorsOnLimit)
    {
       CheckRotorLock();
    }

    currentCycleTime = 0;
}

void ParseArguments(string argument)
{
    string command = "";
    bool setRotorAngle = false;
    if (argument.ToLower().Contains("set "))
    {
        command = argument.ToLower().Replace("set ", "");
        setRotorAngle = true;
    }
    else if (argument.Contains("+"))
    {
        command = argument.Replace("+", "");
    }
    else
    {
        command = argument;
    }

    float value;
    bool isNumeric = Single.TryParse(command, out value);
    if (isNumeric)
    {
        if (setRotorAngle)
        {
            Echo("Argument parsed as: " + value.ToString());
            Echo("Setting rotor angle...");
            SetRotorAngles(value);
        }
        else
        {
            Echo("Argument parsed as: " + value.ToString());
            Echo("Incrementing rotors...");
            IncrementRotor(value);
        }

    }
    else if (command.ToLower() == "round")
    {
        Echo("Argument parsed as: " + command);
        Echo("Rounding off rotor angles...");
        RoundRotorAngles();
    }
    else
    {
        Echo("Error: Argument '" + argument + "' could not be parsed");
    }
}

void CheckRotorLock()
{
    var rotors = new List<IMyTerminalBlock>();
    GridTerminalSystem.SearchBlocksOfName(rotorName, rotors, IsRotor);
    foreach (IMyMotorStator thisRotor in rotors)
    {
        if (Math.Abs(thisRotor.Angle - thisRotor.UpperLimit) < 0.01f || Math.Abs(thisRotor.Angle - thisRotor.LowerLimit) < 0.01f)
        {
            thisRotor.SetValue("Force weld", true);
        }
        else
        {
            thisRotor.SetValue("Force weld", false);
        }
    }
}

void IncrementRotor(float increment)
{
    var rotors = new List<IMyTerminalBlock>();
    GridTerminalSystem.SearchBlocksOfName(rotorName, rotors, IsRotor);
    foreach (IMyMotorStator thisRotor in rotors)
    {
        float currentAngle = thisRotor.Angle / (float)Math.PI * 180f;
        float newAngle = currentAngle + increment;

        Echo("Current Angle: " + currentAngle.ToString());
        Echo("New Angle: " + newAngle.ToString());

        if (newAngle > currentAngle)
        {
            thisRotor.SetValue<float>("UpperLimit", newAngle);
            thisRotor.SetValue<float>("LowerLimit", -361f);
            thisRotor.SetValue<float>("Velocity", rotationVelocity);
        }
        else
        {
            thisRotor.SetValue<float>("LowerLimit", newAngle);
            thisRotor.SetValue<float>("UpperLimit", 361f);
            thisRotor.SetValue<float>("Velocity", -rotationVelocity);
        }
    }
}

void RoundRotorAngles()
{
    var rotors = new List<IMyTerminalBlock>();
    GridTerminalSystem.SearchBlocksOfName(rotorName, rotors, IsRotor);
    foreach (IMyMotorStator thisRotor in rotors)
    {
        float currentAngle = thisRotor.Angle / (float)Math.PI * 180f;
        float newAngle = (float)Math.Round(currentAngle);

        Echo("Current Angle: " + currentAngle.ToString());
        Echo("New Angle: " + newAngle.ToString());

        if (newAngle > currentAngle)
        {
            thisRotor.SetValue<float>("UpperLimit", newAngle);
            thisRotor.SetValue<float>("LowerLimit", -361f);
            thisRotor.SetValue<float>("Velocity", rotationVelocity);
        }
        else
        {
            thisRotor.SetValue<float>("LowerLimit", newAngle);
            thisRotor.SetValue<float>("UpperLimit", 361f);
            thisRotor.SetValue<float>("Velocity", -rotationVelocity);
        }
    }
}

void SetRotorAngles(float angle)
{
    var rotors = new List<IMyTerminalBlock>();
    GridTerminalSystem.SearchBlocksOfName(rotorName, rotors, IsRotor);
    foreach (IMyMotorStator thisRotor in rotors)
    {
        float currentAngle = thisRotor.Angle / (float)Math.PI * 180f;

        Echo("Current Angle: " + currentAngle.ToString());
        Echo("New Angle: " + angle.ToString());

        if (angle > currentAngle)
        {
            thisRotor.SetValue<float>("UpperLimit", angle);
            thisRotor.SetValue<float>("LowerLimit", -361f);
            thisRotor.SetValue<float>("Velocity", rotationVelocity);
        }
        else
        {
            thisRotor.SetValue<float>("LowerLimit", angle);
            thisRotor.SetValue<float>("UpperLimit", 361f);
            thisRotor.SetValue<float>("Velocity", -rotationVelocity);
        }
    }
}

bool IsRotor(IMyTerminalBlock block)
{
    var cast = block as IMyMotorStator;
    return cast != null;
}