diff --git a/mechanical_door_controller.cs b/mechanical_door_controller.cs
index 94c257d..4c49d0b 100644
--- a/mechanical_door_controller.cs
+++ b/mechanical_door_controller.cs
@@ -23,6 +23,7 @@
 MyCommandLine cli;
 List<IEnumerator<bool>> jobs;
 Dictionary<string, Door> doors;
+int tickCount;
 
 public class DoorHinge {
     public DoorHinge(Program p, IMyMotorStator hinge) {
@@ -47,9 +48,10 @@ public class DoorHinge {
     // Process the hinge's movement.
     // It will return true when the panel has finished moving.
     public bool Actuate() {
-        if (Math.Abs(Hinge.Angle - TargetAngle) < 0.001) {
+        if (Math.Abs(Hinge.Angle - TargetAngle) < 0.1 && Hinge.Angle == LastAngle) {
             Hinge.RotorLock = true;
         }
+        LastAngle = Hinge.Angle;
         return Locked();
     }
 
@@ -60,6 +62,7 @@ public class DoorHinge {
     private Program P; // for access to Echo, etc.
     private IMyMotorStator Hinge { get; set; }
     private float TargetAngle { get; set; }
+    private float LastAngle {get; set; }
     private float OpenAngle { get; set; } = 90F;
     private float ClosedAngle { get; set; } = 0F;
     private float Velocity { get; set; } = 5F;
@@ -117,7 +120,7 @@ public class Door {
     public bool Actuate() {
         bool done = true;
         foreach (DoorHinge hinge in Hinges) {
-            if (hinge.Actuate()) done = false;
+            if (!hinge.Actuate()) done = false;
         }
         return done;
     }
@@ -134,6 +137,7 @@ public class Door {
 }
 
 public Program() {
+    tickCount = 0;
     cli = new MyCommandLine();
     jobs = new List<IEnumerator<bool>>();
 
@@ -143,7 +147,7 @@ public Program() {
     GridTerminalSystem.GetBlocksOfType(allHinges);
     foreach(IMyMotorStator hinge in allHinges) {
         if (hinge.CustomName.StartsWith("Door")) {
-            string doorName = hinge.CustomName;
+            string doorName = hinge.CustomName.Split(' ')[0];
             if (!doors.ContainsKey(doorName)) {
                 doors[doorName] = new Door(this);
             }
@@ -155,22 +159,34 @@ public Program() {
 }
 
 public void Main(string argument, UpdateType updateSource) {
+    Echo($"index: {tickCount++}");
+
     if (updateSource == UpdateType.Trigger || updateSource == UpdateType.Terminal) {
         // Create a new job
         cli.TryParse(argument);
-
         List<Door> doorsToControl = new List<Door>();
+
+        if (cli.ArgumentCount == 0) {
+            Echo("No arguments passed. Controlling all doors.");
+            foreach (Door door in doors.Values) {
+                if (!door.Locked()) {
+                    continue;
+                }
+                doorsToControl.Add(door);
+            }
+        }
+
         for (int i=0; i < cli.ArgumentCount; i++) {
-            string arg = cli.Argument(i);
-            if (!doors.ContainsKey($"Door{arg}")) {
-                Echo($"Door with identifier {arg} not found. Skipping.");
+            string key = "Door" + cli.Argument(i);
+            if (!doors.ContainsKey(key)) {
+                Echo($"Door with identifier {key} not found. Skipping.");
                 continue;
             }
-            if (!doors[arg].Locked()) {
-                Echo($"Door {arg} already moving. Skipping.");
+            if (!doors[key].Locked()) {
+                Echo($"Door {key} already moving. Skipping.");
                 continue;
             }
-            doorsToControl.Add(doors[arg]);
+            doorsToControl.Add(doors[key]);
         }
 
         if (doorsToControl.Count == 0) {
@@ -189,6 +205,7 @@ public void Main(string argument, UpdateType updateSource) {
             jobs[i].Dispose();
             jobs.Remove(jobs[i]);
             i--;
+            Echo("Operation Complete.");
         }
     }